JPH04256526A - Position detecting method for assembly parts - Google Patents

Abstract

PURPOSE:To detect the position of a part which is to be assembled to a part held by an end effector of a robot among two parts with a shaft and hole fitted closely to each other. CONSTITUTION:A position detecting jig 10 is held by a gripper 5 so that its center axis may be parallel with the center axis of a part 2 (hole 3) and its tapered portion may be faced downward. When the position detecting jig 10 is lowered along its center axis by a robot 4, the side surface of the tapered portion is made in contact with the edge of the hole 3 and the position detecting jig 10 receives a force in the direction perpendicular to the center axis. The force increases as the position detecting jig 10 lowers over a limited value, and then the actions by which the position detecting jig 10 is moved by an amount in the direction of a force perpendicular to the center axis and the position detecting jig 10 is lowered further from that position until it is pressed against the part 2 are made repeatedly. Then, when the shaft of the position detecting jig 10 is inserted into the hole 3, it does not receive any force and, therefore, alignment of the center shaft of the position detecting jig 10 with that of the hole 3 is detected to detect the position of the part 2.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to shaft parts that fit together,
One of the two parts, each having a hole, is installed so that it does not move, and the other part is gripped and moved by an end effector provided at the tip of the robot's arm to connect the shaft and the hole. The present invention relates to a method of assembling parts using a robot, in which the two parts are assembled by fitting them together, and particularly relates to a method of detecting the position of assembled parts, in which the position of the central axis of the shaft or the hole of one of the parts is detected. .

0002

2. Description of the Related Art In assembly work, it is necessary to accurately align the mutual positions of parts to be joined. Conventionally, in automatic assembly work using robots, in order to obtain the necessary positional accuracy, the mounting of the robot and assembly parts has to be sufficiently precise, while the direction of assembly movement has been limited to the vertical direction, and guide pins, etc. It was necessary to take supplementary measures.

FIG. 7 shows an example of assembly work using a robot.

In this system, a cylindrical part 1 is gripped by a positioning mechanism 6 at the end of a gripper 5, which is a type of end effector, provided at the end of an arm of a robot 4, and the part 2 is held by the robot 4. It shows the operation of inserting into a cylindrical hole 3. In this case, the center axis of part 1 and part 2
Since the central axes of (the holes 3) do not match, even if the component 1 is moved in the axial direction and attempted to be inserted into the hole 3, it cannot be inserted into the hole 3. Note that the component 2 is designed not to move even when subjected to force.

FIG. 8 shows the function of the positioning mechanism 6 in the gripping operation of the gripper 5 shown in FIG.

Reference numeral 7 indicates a state in which the gripper 5 is open, and reference numeral 8 indicates a state in which the gripper 5 is closed. 9 is the gripping center determined by the positioning mechanism 6 when the gripper 5 is closed. As shown in the figure, the positioning mechanism 6 has a V-shaped clamping structure, so when an unfixed cylindrical object is gripped, its center coincides with the gripping center 9 of the gripper 5.

FIG. 9 shows another example of assembly work using a robot.

Unlike the case shown in FIG. 7, this shows an operation in which a hollow cylindrical part 18 is gripped by a gripper 5 and a rod 20 is fitted into a hole 19 of the part 18 by a robot 4. In this case, as in the case of FIG. 7, the part 18 (
Since the center axis of the hole 19) and the center axis of the rod 20 do not match, it is not possible to move the component 18 in the axial direction and fit the hole 19 with the rod 20. Note that the rod 20 does not move even if it receives force.

[0009]

[Problems to be Solved by the Invention] The above-mentioned conventional assembly method using a robot is based on arranging the assembly parts with high precision in their position and direction.
The drawback is that it is difficult to accommodate the diversification of the shapes, positions, and directions of assembled parts.

It is an object of the present invention to provide a method for detecting the position of an assembly of the type mentioned at the outset, which easily detects the position of the central axis of the mating shaft or hole of the assembly. .

[0011]

[Means for Solving the Problems] In the first method of detecting the position of assembled parts of the present invention, when the fitting part of one part is a hole, a shaft part that can fit into the hole is provided. and a tapered shaft portion that gradually becomes thinner from the shaft portion toward the tip.
or a tapered shaft portion that gradually tapers toward the tip from a large diameter larger than the diameter of the hole of the one component, and the diameter of the tip is smaller than the diameter of the hole of the one component; and the tapered shaft portion. A second form of position detection jig that is connected to the large diameter part of and includes a shaft part concentric with the tapered shaft part, and when the fitting part of the one component is the shaft part, A first form comprising a hole that can fit into the shaft, and a hole that widens from one end of the hole toward the tip, or from a small diameter smaller than the diameter of the shaft of the one component to the tip. a second part that gradually widens toward the end and has a diameter at its tip larger than the diameter of the shank of the one component; and a second part that is connected to the small diameter part of the shank part and is concentric with the shank part. A position detection jig having the form of a first step of gripping with the end effector so as to face the one component; moving the position detection jig toward the one component in the direction of its central axis; and moving the position detection jig toward the one component; a second step of pressing against the edge of the hole or shaft of one component; and in the second step, if the position detection jig is in the first form, the position detection jig is pressed against the edge of the hole or shaft of the one component; At least the former of the force received from the component in a direction perpendicular to the central axis and the force received in the direction of the central axis is detected, and when the position detection jig is of the second form, the position detection jig is The force received from one component in the direction perpendicular to the central axis is detected, and the detected force is
a third step of comparing the force in either direction with a predetermined threshold when the detected force is in both directions; and in the third step, it is determined that the force is greater than the threshold. In this case, the position detection jig is moved a certain distance in the direction of the force that the position detection jig receives from the one component in a direction perpendicular to the central axis, and then the process returns to the second step. If the force is determined to be less than the threshold in step 4 and step 3, the central axis of the position detection jig at that time is aligned with the central axis of the hole or the shaft of the one component. and a fifth step of determining that the position of the one component has been detected.

The second method of detecting the position of an assembled part of the present invention is to use a tapered shaft portion that starts from a large diameter larger than the diameter of the hole and gradually tapers toward the tip, and the diameter of the tip is smaller than the diameter of the hole. , formed inside the tapered shaft part concentrically with the tapered shaft part, and gradually toward the tip of the tapered shaft part from a larger diameter larger than the diameter of the shaft part that fits smaller than the larger diameter of the tapered shaft part. A position detection jig including a tapered hole portion whose tip diameter is smaller than the diameter of the shaft portion into which the tip is fitted is placed toward the hole portion of the component having the hole portion into which the tip of the tapered shaft portion fits. a first step of gripping a component having a shaft portion into which the tapered hole fits, facing toward the shaft portion; and a first step of gripping the other component gripped by the end effector in the direction of its central axis. moving toward the position detection jig, and pressing the edge of the fitting shaft or hole of the other component against the side surface of the tapered hole or tapered shaft of the position detection jig, a second step of pressing the side surface of the tapered shaft or tapered hole of the position detection jig against the edge of the fitting hole or shaft of the one component; and in the second step, the other component a third step of detecting a force received from the position detection jig in a direction perpendicular to the central axis and comparing the force with a predetermined threshold; and in the third step, if the force is larger than the threshold; If it is determined, a fourth step returns to the second step after moving the other component a certain distance in the direction of the force that the component receives from the position detection jig in a direction perpendicular to the central axis. and the steps of
If it is determined in the third step that the force is less than or equal to the threshold, the central axes of the other component and the position detection jig at that time are aligned with the central axis of the hole or the shaft of the one component. and a fifth step of determining that the position of one of the parts is detected.

A third method of detecting the position of assembled parts according to the present invention.

[0014] A method for detecting the position of an assembled part, which detects the position of a central axis of a columnar part of a part that is fixedly erected on a plane and has at least a part of a columnar part, the method comprising:
A first step of pinching the columnar part of the component by a positioning mechanism having a V-shaped pinching structure of an end effector attached to the tip of the arm of the robot, and detecting the force received by the positioning mechanism in the first step. and a third step of moving the end effector in a direction in which the force becomes smaller, and stopping the movement of the end effector when the force becomes less than or equal to a predetermined threshold.

[0015]

[Operation] First, the first method will be explained. The position detection jig is gripped by an end effector and moved toward one component in the direction of its central axis, and the position detection jig is pressed against the hole or shaft of one component. At this time, if the force that the position detection jig receives from one component in the direction perpendicular to the central axis or in the direction of the central axis is larger than the threshold, the side surface of the tapered shaft or widened hole of the position detection jig will move to one side. If it is below the threshold, it means that the center axis of the position detection jig matches the center axis of the hole or shaft of one of the parts, and depending on the position of the position detection jig at that time. This means that the position of one of the parts has been detected. Therefore, if the force received by the position detection jig is larger than the threshold, the position detection jig is moved a certain distance from one component in the direction of the force perpendicular to the central axis, and the position The position detection jig receives the action of moving the position detection jig toward one of the parts in the direction of its central axis and pressing the position detection jig against the hole or shaft of one part Repeat until the force is below the threshold.
Next, the second method will be explained. Holding a position detection jig between one component and the other component held by the end effector, moving the other component toward the position detection jig in the direction of its central axis, The tapered hole or the side surface of the tapered shaft of the position detection jig is pressed, and the tapered shaft or the side of the tapered hole of the position detection jig is pressed against the hole or shaft of one of the components. The subsequent operations are similar to the first method. When the other component cannot move any further and the force received from one component via the position detection jig in the direction perpendicular to the central axis becomes less than a threshold, the center axis of the other component and the position detection jig This means that the central axis of the tool coincides with the central axis of the hole or shaft of one of the parts, and the position of one of the parts has been detected.

In the third method, the end effector is moved by sandwiching the component with a positioning mechanism having a V-shaped clamping structure, and if the force received by the component from the component becomes smaller than a threshold value, the positioning is completed. This means that the gripping center of the mechanism has coincided with the central axis of the part, and the position of the part has been detected.

[0017]

Embodiments Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a first embodiment of the present invention, and FIG. 3(1) is a side view of the position detection jig 10 in FIG.

In this embodiment, part 1 is replaced with part 2 as shown in FIG.
This is an example applied to an assembly operation in which the device is inserted into the hole 3 of.

As shown in FIG. 3(1), the position detection jig 10 consists of a shaft portion that can fit into the hole 3 of the component 2, and a conical portion that tapers from the shaft portion toward the tip. It has become. The robot 4 has a position detection jig 1 gripped by a gripper 5.
Force sensor 1 that detects forces in the X, Y, and Z directions applied to
2 are connected. The force sensor drive circuit 13 drives the force sensor 12, amplifies the output of the force sensor 12, and determines whether the force in each direction exceeds a preset threshold. The robot controller 14 causes the robot 4 to perform an operation of moving the position detection jig 10 based on the determination result of the force sensor 12.

Next, the operation of this embodiment will be explained. Part 1
(Fig. 7) into part 3, first
Instead, the position detection jig 10 is gripped by the gripper 5 so that its central axis is parallel to the central axis of the component 2 and the conical portion faces downward. In this case, the central axis of the position detection jig 10 coincides with the central axis of the component 1 when the component 1 is gripped by the gripper 5, as described with reference to FIG. Next, when the robot 4 lowers the position detection jig 10 along the central axis of the position detection jig 10, the position detection jig 10
The conical part presses against the edge of the hole 3, and the position detection jig 10
, the gripper 5 therefore receives a force from the part 2. This force is detected by the force sensor 12. The force in the direction perpendicular to the central axis of the position detection jig 10 is
increases as the value decreases and becomes larger than the threshold value.Thereafter, the robot 4 moves the position detection jig 10 by a minute distance in the direction of the force perpendicular to the central axis that it receives from the part 2. , moving toward the component 2 in the direction of its central axis, and pressing it against the component 2 are repeated. Then, when the shaft portion of the position detection jig 10 enters the hole 3, the position detection jig 10, and hence the gripper 5, no longer receives any force (the force becomes less than the threshold value). This is detected by the force sensor drive circuit 13, and the operation of the position detection jig 10 is stopped. That is, the gripping center 9 of the gripper 5 coincides with the central axis of the hole 3, and the position of the hole 3 of the component 2 has been detected. Therefore, the robot 4 separates the position detection jig 10 from the component 2 along its central axis, and moves the component 1 to the gripper 5 instead of the position detection jig 10.
Grip with. At this time, the central axis of component 1 and the central axis of hole 3 are aligned, so if component 1 is moved (lowered) along its central axis by robot 4, component 1 will be inserted into hole 3. Ru. The coordinates of the position of the hole 3 are determined by the position detection jig 10.
The position of the gripper 5 is calculated by the robot controller 14 from the position of the gripper 5 when the gripper 5 is no longer receiving force, and is stored in the robot controller 14. The robot controller 14 has a calculation function for spatial position coordinates, and the coordinate data is used when reinserting the part into the hole 3 or when inserting the part into the hole 3 again.
It is used when calculating the position of other parts from the center position of.

Note that the force that the position detection jig 10 receives in the direction of its central axis may be used to determine the position detection. In this case as well, the force that the position detection jig 10 receives in a direction perpendicular to its central axis needs to be detected in order to determine the direction in which the position detection jig 10 is to be moved. Moreover, instead of the position detection jig 10, as shown in FIG. 3(3), a position detection jig 10' having a conical portion having a larger diameter than the shaft portion may be used. In this case, the position detection jig 10' enters the hole 3 only halfway into the conical part, but the force that the position detection jig 10' receives in the direction perpendicular to the central axis becomes small. Accordingly, it can be detected that the central axis of the position detection jig 10', that is, the gripping center 9 of the gripper 5 coincides with the central axis of the hole 3. This position detection jig 10
' can be used to detect the positions of multiple parts with different hole diameters.

FIG. 2 is a diagram showing a second embodiment of the present invention, and FIG. 3(2) is a side view of the position detection jig 11 in FIG.

This embodiment is an example applied to the work of fitting the part 18 to the part 20 shown in FIG. 9. Since the part 20 is a rod, the part 20 is fitted as shown in FIG. A position detection jig 11 is used, which has a hole that can be fitted into the hole and a conical hole that widens from one end of the hole toward the tip.

Next, the operation of this embodiment will be explained. As in the case of FIG. 1, when inserting the component 18, first place the position detection jig 11 in place of the component 18 so that its central axis is aligned with the component 2.
Grip it with the gripper 5 so that it is parallel to the central axis of the body and the conical hole faces downward. Next, when the position detection jig 11 is lowered, the side surface of the conical hole of the position detection jig 11 presses against the edge of the tip of the component 20. After this, as in the case of FIG. 1, the position detection jig 11 is moved a small distance in the direction of the force perpendicular to the central axis, and moved toward the component 20 in the direction of the central axis. , the operation of pressing against the component 20 is repeated. Then, the position detection jig 11
When the hole is fitted into the component 20, the position detection jig 11 no longer receives any force from the component 20 in the direction of the central axis and in the direction perpendicular to the central axis. This is detected by the force sensor drive circuit 13, and the movement of the position detection jig 11 is stopped. That is, the gripping center 9 of the gripper 5 coincides with the central axis of the component 20, and the position of the component 20 is detected. Therefore, the position detection jig 11 is separated from the component 20 along its central axis by the robot 4, and the component 18 is gripped by the gripper 5 instead of the position detection jig 11. At this time, the central axis of the component 20 and the central axis of the hole 19 of the component 18 are aligned, so if the robot 4 moves (lowers) the component 18 along the central axis, the hole 19 of the component 18 is fitted with part 20. The coordinates of the position of the part 20 are calculated and stored by the robot controller 14, as in the case of FIG.

Note that the force that the position detection jig 11 receives in the direction of its central axis may be used to determine the position detection. In this case, as in the case of FIG. 1, it is necessary to detect the force that the position detection jig 11 receives in a direction perpendicular to the central axis. Moreover, instead of the position detection jig 11, as shown in FIG. 3(4), a position detection jig 11' having no columnar hole and a conical hole with a pointed tip can also be used. In this case, the position detection jig 11' of the component 20 enters only halfway into the conical hole, but at that time, the force that the position detection jig 11' receives in the direction perpendicular to the central axis becomes smaller. Accordingly, it is possible to detect that the gripping center 9 of the gripper 5 coincides with the central axis of the component 20.

FIG. 4 is a diagram showing a third embodiment of the present invention.

In this embodiment, part 1 is replaced with part 2 as shown in FIG.
In this example, the conical shaft part has a pointed tip and the diameter of the large diameter part is larger than the diameter of the hole 3, and is formed concentrically within this conical shaft part, A position detection jig 15 consisting of a conical hole with a pointed tip and a large diameter portion larger than the diameter of the component 1, and this position detection jig 1.
In the case of FIG. 1, a holding mechanism 16 is used that holds the hole 5 with its tip facing downward and its central axis parallel to the central axis of the hole 3, and moves the position detection jig 15 in the direction in which the force is received. It is different from

Next, the operation of this embodiment will be explained. first,
The component 1 is gripped by the gripper 5 so that its central axis is parallel to the central axis of the hole 3 of the component 2 and positioned above the component 2. Next, the position detection jig 15 is moved between the parts 1 and 2 by the holding mechanism 16, and the tip of the position detection jig 15 is inserted into the hole 3. Then, the component 1 is moved (lowered) in the direction of its central axis. Then, the edge of the lower end presses against the side surface of the conical hole of the position detection jig 15, and the position detection jig 15 is pushed down by the component 1 and lowered.
The side surface of the conical shaft presses against the edge of the hole 3 of the part 2. At this time, the component 1 receives a force in a direction perpendicular to its central axis. This force is detected by the force sensor 12. This force increases as component 1 descends and becomes larger than the threshold, so component 1 is moved a small distance in the direction of the force perpendicular to its axis, and then descends from that position in the direction of the central axis. The position detecting jig 15 is pressed against the side surface of the conical hole of the position detecting jig 15, and the position detecting jig 15 is pushed down together with this. This operation is repeated so that the entire circumference of the lower edge of the component 1 hits the side surface of the conical hole 2 of the position detection jig 15, and the entire circumference of the edge of the hole 3 hits the conical shape of the position detection jig 15. When the part 1 hits the side surface of the shaft, the force that the part 1 receives in the direction perpendicular to its central axis becomes less than the threshold value, so that the gripping center of the gripper 5 is aligned with the position detection jig 15, and therefore,
It can be detected that the center axis of the hole 3 coincides with the center axis of the hole 3. After that, the position detection jig 15 is held by the holding mechanism 16 for parts 1 and 2.
If the part 1 is moved from between the holes 3 and 3 and the part 1 is lowered as it is, the part 1 is inserted into the hole 3 of the part 2. The coordinates of the position of the hole 3 are calculated and stored by the robot controller 14, as in the case of FIG.

Note that the position detection jig 15 can also be used in the case of FIG.

FIG. 5 is a diagram showing a fourth embodiment of the present invention.

This embodiment is an example in which the positioning mechanism 6 is used as a position detection jig to detect the position of the central axis of the cylinder 17, which is the object to be assembled.

Since the positioning mechanism 6 has a V-shaped clamping structure, if the gripping center 9 does not coincide with the central axis of the cylinder 17, the positioning mechanism 6 receives a force from the cylinder 17. Therefore, the gripping center can be made to coincide with the central axis of the cylinder 17 by detecting the force using the force sensor 12 and moving the gripper 5 so that the force becomes less than a certain threshold value. The coordinates of the position of the central axis of the cylinder 17 are calculated from the position of the gripper 5 at this time by a robot controller (not shown) and stored.

FIG. 6 is a diagram showing a fifth embodiment of the present invention.

In this embodiment, rods 21 and 22 having the same shape as rod 20 in FIG. stick 20
, 21, 22, for example, the coordinates of the positions of the bars 20, 21 are detected and calculated by the method shown in FIG.
The position of the remaining one rod 22 can be calculated from the positions of the rods 20 and 21 and the condition of an equilateral triangle.

By calculating the position coordinates in this way, the position coordinates of other objects can be obtained under certain conditions.

Note that the present invention can also be applied to a case where the shaft portion and the hole portion that fit into each other are square or the like.

[0038]

Effects of the Invention As explained above, in the present invention, the force in the direction perpendicular to the central axis or in the direction of the central axis, which the specially shaped position detection jig or the positioning mechanism of the end effector receives from the component, is a threshold value. By detecting the position of the part by moving the position detection jig, part, or end effector until the position is as follows, there is an effect that the position of the part can be easily detected.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram showing a second embodiment of the invention.

FIG. 3 is a side view of the position detection jigs 10, 11, 10', 11'.

FIG. 4 is a diagram showing a third embodiment of the present invention.

FIG. 5 is a diagram showing a fourth embodiment of the present invention.

FIG. 6 is a diagram showing a fifth embodiment of the present invention.

FIG. 7 is a diagram showing an example of assembly work using a robot.

8 is a diagram showing the function of the positioning mechanism 6 in the gripping operation of the gripper 5 shown in FIG. 7. FIG.

FIG. 9 is a diagram showing another example of assembly work using a robot.

[Explanation of symbols]

1, 2 Parts 3 Hole 4 Robot 5 Gripper 6 Positioning mechanism 7 Gripper 5 open state 8 Gripper 5 closed state 9 Gripping center of gripper 5 10, 11 Position detection jig 10', 11' Position detection jig Tool 12 Force sensor 13 Force sensor drive circuit 14 Robot controller 15 Position detection jig 16 Holding mechanism 17, 18 Part 19 Hole 20, 21, 22 Rod

Claims (5)

[Claims] Claim 1: Two parts each having a shaft part and a hole part that fit into each other, one part is installed so as not to move, and the other part is an end effector provided at the tip of a robot arm. In a parts assembly method using a robot, in which the two parts are assembled by gripping and moving the parts to fit the shaft part and the hole part, the position of the central axis of the shaft part or the hole part of one of the parts. A method for detecting the position of an assembled part, which detects a position of an assembled part, in which when the fitting part of one of the parts is a hole, a shaft part that can fit into the hole, and a shaft part that can be fitted with the hole part, and A first form including a tapered shaft portion that gradually becomes thinner at the tip, or gradually tapers toward the tip from a large diameter that is larger than the diameter of the hole of the one component;
A position of a second form including a tapered shaft part whose tip end diameter is smaller than the diameter of the hole of the one component, and a shaft part connected to the large diameter part of the tapered shaft part and concentric with the tapered shaft part. If the fitting part of the detection jig is a shaft part, a hole part that can be fitted with the shaft part, and a hole part that widens toward the tip from one end of the hole part. or a hole portion that gradually widens toward the tip from a small diameter smaller than the diameter of the shank of the one component, and the diameter of the tip is larger than the diameter of the shank of the one component; A second form of position detection jig connected to the small diameter part of the end-widening hole and including a shaft concentric with the end-widening hole, the central axis of which is connected to the shaft or hole into which the one component fits. a first step of gripping the position detection jig with the end effector so that the end effector is parallel to the central axis of the component and with the tapered shaft portion or the widening hole facing the one component; a second step of moving the position detection jig toward the one component in the direction of the central axis and pressing the position detection jig against the edge of the hole or shaft of the one component; When the detection jig is in the first form, the position detection jig detects at least the former of the force received from the one component in a direction perpendicular to the central axis and the force received in the direction of the central axis, When the position detection jig is in the second form, the position detection jig detects a force received from the one component in a direction perpendicular to the central axis, and the detected force, provided that the position detection jig If the jig is in the first form and the detected force is in both directions, the jig is in a third form, and the force in either direction is compared with a predetermined threshold value.
If it is determined that the force is larger than the threshold value in the step and the third step, the position detection jig is moved from the one component perpendicular to the central axis. a fourth step of returning to the second step after moving a certain distance in the direction of the force received; and a fourth step of returning to the second step; and if the force is determined to be less than the threshold value in the third step, a fifth step in which the central axis coincides with the central axis of the hole or the shaft of the one component, and the position of the one component is determined to have been detected;
How to detect the position of assembled parts. [Claim 2] Two parts each having a shaft part and a hole part that fit into each other, one part is installed so as not to move, and the other part is installed as an end effector provided at the tip of the arm of the robot. In a parts assembly method using a robot, in which the two parts are assembled by gripping and moving the parts to fit the shaft part and the hole part, the position of the central axis of the shaft part or the hole part of one of the parts. A method for detecting the position of an assembled part, the method comprising: a tapered shaft portion that gradually tapers from a large diameter larger than the diameter of the hole toward the tip, and the diameter of the tip is smaller than the diameter of the hole; formed inside the shaft part concentrically with the tapered shaft part, and gradually tapers toward the tip of the tapered shaft part from a larger diameter larger than the diameter of the shaft part that fits smaller than the larger diameter of the tapered shaft part,
A position detection jig including a tapered hole portion whose tip diameter is smaller than the diameter of the shaft portion into which the tip is fitted is turned toward the hole of the component having the hole portion into which the tip of the tapered shaft portion is fitted, and a first step of gripping a component having a shaft portion into which a hole fits so as to face the shaft portion; and a first step of gripping the other component gripped by the end effector in the direction of its central axis. The detection jig is moved toward the detection jig, and the edge of the fitting shaft or hole of the other component is pressed against the side surface of the tapered hole or tapered shaft of the position detection jig, and the position detection a second step of pressing the tapered shaft portion or the side surface of the tapered hole portion of the tool against the edge of the fitting hole or shaft portion of the one component; and in the second step, the other component is placed in the position A third detecting force received from the detection jig in a direction perpendicular to the central axis and comparing the force with a predetermined threshold value.
and if it is determined in the third step that the force is larger than the threshold, the other component is subjected to a force that the component receives from the position detection jig in a direction perpendicular to the central axis. a fourth step in which the force is determined to be less than or equal to the threshold value after moving a certain distance in the direction of a fifth step in which the central axis of the jig coincides with the central axis of the hole or the shaft of the one component, and the position of the one component is determined to have been detected. . 3. Calculating the coordinates of the position of the fitting shaft or hole of the one component from the position of the end effector when the force becomes equal to or less than the threshold; and the calculated coordinates. 3. The position detection method according to claim 1, further comprising the step of storing the data of. 4. A method for detecting the position of an assembled part, which detects the position of a central axis of a columnar part of a part that is fixedly erected on a plane and has at least a part of a columnar part, the method comprising: a first step of sandwiching the columnar part of the component by a positioning mechanism having a V-shaped pinching structure of the end effector attached to the tip of the end effector;
a second step of detecting the force received by the positioning mechanism in the step; moving the end effector in a direction in which the force becomes smaller; and when the force becomes less than a predetermined threshold, moving the end effector; and a third step of stopping the assembly. 5. The method further comprises: calculating the coordinates of the position of the columnar part of the component from the position of the end effector when the end effector stops moving; and storing the calculated coordinate data. Claim 4 including
The position detection method described in .