JPH08257971A - Component assembly device - Google Patents

Abstract

PURPOSE: To bring a tool into rotational movement about two orthogonal axes by supporting a rotary support plate against a robot main body in such a way that the plate can rotate about each of the two orthogonal axes, and supporting a translating support plate against the rotary support plate in such a way that the former support plate can translate along each of the two orthogonal axes. CONSTITUTION: This component assembly device has a fine adjustment mechanism 18 mounted on the end of a robot main body to fine-tune the positions and attitudes of tools. The fine adjustment mechanism 18 has three support plates 20, 22, 24 arranged at predetermined intervals along Z-axis. In this case, the rotary support plate 24 is supported against the support plate 22 in such a way as to be rotatable about X- and Y-axes, and a tool-side translating support plate 112 is supported against the rotary support plate 24 in such a way as to be able to translate along the X-and Y-axes. The rotary support plate 24 is rotated about the X- and Y-axes by the operation of a motor 42 mounted on the support plate 22, and the translating support plate 1 12 is made to translate along the X- and Y-axes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an assembling apparatus for assembling parts using a robot, and more particularly to an assembling apparatus using a robot having a fine movement mechanism.

[0002]

2. Description of the Related Art Generally, in the work of assembling parts, the work of assembling the parts is performed with the positioning part of the part and the positioned part of the object to be assembled aligned. It is becoming more common to use industrial robots. When attempting to perform parts assembly work using a robot in this way, consider not only the position and orientation errors between the parts and the assembly object, but also the manufacturing errors of the parts and assembly object itself. It is essential that the positioning part of the component and the positioned part of the object to be assembled can be positioned by inserting them. However, in a general robot, as shown in FIG. 4A, in the case where a positional deviation occurs between the positioning portion 2a of the component 2 and the positioned portion 4a of the assembly target 4, in order to correct this, Requires controlling the robot body 14, but it is very difficult to make fine adjustments by such control.

Therefore, conventionally, as shown in FIG.
As the configuration of the robot, a configuration is such that a fine movement mechanism (end effector) 18 ′ that connects these to each other so as to be capable of relative fine movement is provided between the robot body 14 and a tool (hand etc.) 16 attached to the tip thereof. This fine movement mechanism 18 '
The tool 1 that grips the component 2 by appropriately driving
6 so that the position / orientation of 6 can be finely adjusted so that the positioning portion 2a of the component 2 and the positioned portion 4 of the assembly target 4 can be adjusted.
It has been proposed to position a and a (see, for example, Japanese Patent Laid-Open No. 5-200638).

[0004]

However, in the fine movement mechanism 18 ', when it is provided with a plurality of position fine adjustment functions, each of these movements is performed by using an independent mechanism. The fine movement mechanism 18 'has a stacked structure, and tends to inevitably increase in size and weight.

For example, in FIG. 4B, the tool 16
When the fine movement mechanism 18 'has a function of rotating the robot main body 14 around the X-axis and Y-axis,
As shown in FIG. 5A, the tool 1 is attached to the base plate 200 on the robot body 14 side via the X-axis rotation mechanism 202.
A stack structure is used in which the plate member 204 on the sixth side is supported, and further, the plate member 208 is supported by the plate member 204 via the Y-axis rotation mechanism 206. Then, the tool 16 is moved to the robot body 14 by X
When tilting in the Y2-axis direction, as shown in FIG. 5B, the plate member 2 is driven by driving the X-axis rotation mechanism 202.
While tilting 04 around the X-axis, as shown in FIG. 5C, the Y-axis rotating mechanism 206 is driven to tilt the plate member 208 around the Y-axis.

Further, in FIG. 4B, when the fine movement mechanism 18 'has a function of translating the tool 16 in the directions of the X-axis and Y-axis with respect to the robot body 14, FIG. As shown, a plate member 214 is supported by a base plate 210 on the robot body 14 side via a Y-axis translation mechanism 212.
Further, a stacking structure in which the plate member 218 on the tool 16 side is supported via the X-axis translation mechanism 216 is used. Then, the tool 16 is moved to the robot body 14 by X
When translating in the Y2-axis direction, as shown in FIG. 6B, the plate member 2 is driven by driving the Y-axis translating mechanism 212.
6 is translated in the Y-axis direction, and as shown in FIG. 6C, the X-axis translation mechanism 216 is driven to translate the plate member 218 in the X-axis direction.

As described above, since the conventional fine movement mechanism 18 'has a stacking structure in which each movement is performed by using an independent mechanism, the size and weight tend to be inevitably increased. Therefore, when assembling the parts, the fine movement mechanism 1
There is a problem in that 8'may interfere with surrounding objects to prevent the assembly, and the inertial weight of the fine movement mechanism 18'becomes large, which makes it difficult to control the robot body 14.

The present invention has been made in view of the above circumstances, and is an assembly of parts having a fine movement mechanism capable of constructing the fine movement mechanism while maintaining a function equivalent to that of the conventional fine movement mechanism while being lightweight and compact. The purpose is to provide a device.

[0009]

The invention of the present application integrates a plurality of fine position adjustment functions required for the fine movement mechanism by devising the structure of the fine movement mechanism (in particular, a rotation function for each axis line of a certain two orthogonal axes). And the translation function are respectively integrated) so that the above-mentioned object can be achieved.

That is, according to the present invention, as described in claim 1, the robot main body, the tool attached to the tip of the robot main body, and the tool for finely adjusting the position and / or the posture of the tool are provided. Assembly of parts is performed using a robot having a fine movement mechanism that is connected to the robot body so as to be rotatable about predetermined axes of two orthogonal axes and to be capable of translational movement in the directions of the two orthogonal axes. In the device for assembling components, the fine movement mechanism includes a rotation support plate rotatably supported by the robot body around each of the two orthogonal axes, and the rotation support plate.
The translation support plate supported so as to be able to translate in the respective axes of the two orthogonal axes, the rotation driving means for rotating the rotation support plate around each of the two orthogonal axes, and the translation support plate. Translational drive means for translating in two axial directions of two orthogonal axes.

[0011]

As described above, in the present invention, the rotation supporting plate is supported by the robot body so as to be rotatable around the axes of the predetermined two orthogonal axes, and the rotation supporting plate is further supported. Since the translation support plate is supported by the plate so as to be able to translate in the respective axes of the two orthogonal axes, by rotating the rotation support plate around each of the two orthogonal axes by the rotation drive means, It is possible to cause the tool to perform rotational movements about two orthogonal axes without using a structure in which the mechanisms for rotational movements about the respective axes are stacked, and the translation support plate makes the translation support plates orthogonal to each other. By translating the two axes in the respective axial directions, it is possible to relate the two orthogonal axes to the tool without constructing the structure for stacking the translational movement in each axial direction as in the conventional case. It is possible to perform the advancing movement.

Moreover, in the present invention, since the rotation function and the translation function with respect to the axes of the two orthogonal axes are realized by the two-layer structure of the rotation support plate and the translation support plate, further space saving can be achieved. You can

As described above, according to the present invention, the fine movement mechanism for finely adjusting the position and orientation of the tool can be configured to be lightweight and compact while maintaining the function equivalent to that of the conventional fine movement mechanism.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

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

This assembling apparatus is an apparatus for assembling the component 2 by using the robot 12, and has a robot body 14
And a tool 16 attached to the tip of the robot body 14, and a fine movement mechanism (end effector) 18 for finely adjusting the position / orientation of the tool 16.

The tool 16 is a hand-type tool for sandwiching the component 2 from both sides thereof with a pair of claws.

The fine movement mechanism 18 is provided between the robot main body 14 and the tool 16 and connects them so as to be capable of relative fine movement. This relative tremor is
Six types of movements (six-axis movements), that is, translational movements in the X-, Y-, and Z-axis directions and rotational movements around the X-, Y-, and Z-axes, can be performed. For convenience of description, as shown in the drawing, with the tool 16 facing downward, the horizontal direction in the horizontal plane is X, the depth direction in the horizontal plane is Y, and the vertical direction is Z.

FIG. 2 is an exploded perspective view showing the detailed structure of the fine movement mechanism 18. In addition, in this figure, the fine movement mechanism 18 is shown in a state viewed from the opposite direction to that of FIG.

As shown in the figure, the fine movement mechanism 18 includes three support plates (first plate 20, second plate 22, third plate 2 from the bottom) arranged at predetermined intervals in the Z-axis direction.
4) and the components attached to these plates. Although the first and second plates 20 and 22 are quadrangular, the third plate 24 is L-shaped. Then, the fourth plate 112 having a slightly smaller square shape than the third plate 24 (which will be described later).
In combination with the first and second plates 20,
A quadrangle having substantially the same shape as 22 is formed. In addition, the first and second plates 20 and 22 are
The third plate 24 is connected to the second plate 22 and the fourth plate 112 is connected to the third plate 2 by the fixed connecting means (not shown) and the mutual positional relationship is constant.
4, the positional relationship can be changed.

In FIG. 2, the member fixed to the robot body 14 of FIG. 1 is the first plate 20.
The member fixed to the tool 16 is an arm member 158 (which will be described later).

As shown in FIG. 2, the first plate 20 is
Has six shafts 26, 28, 3 extending in the Y-axis direction.
0, 32, 34, 36 are arranged in parallel in the X-axis direction at predetermined intervals, and a bevel gear 38 is provided at each one end thereof.
Is connected to a transmission shaft 40 that extends in the X-axis direction. The transmission shaft 40 includes the second plate 22.
The driving force of the motor 42 mounted and fixed on the upper corner portion is input via the bevel gears 44 and 46. These shafts 26, 28, 30, 32, 34,
36, the bevel gears 4 are provided in the vicinity of the other ends.
It is connected via 8 to each shaft for the above-mentioned 6-axis movement. In addition, each shaft 26, 28, 30, 32, 34,
Each of the clutches 36 is provided with 36, and the above-mentioned 6-axis motion control can be performed by controlling the on / off of the clutches 50.

The fine movement mechanism 18 will be described below for each mechanism for realizing each of the 6-axis movements.

<Rotating mechanism around X-axis and Y-axis> Rotating mechanism around Y-axis A Z part is provided at a corner portion diagonally opposite to the corner portion on which the motor 42 on the second plate 22 is mounted and fixed. The lower ends of the columns 52 extending in the axial direction are fixed, and the lower ends of the guide columns 54, 56 extending in the Z axis direction are fixed to the remaining two corners of the second plate 22.

The upper end of the column 52 is connected to the third plate 24 via a ball joint 58 which is rotatable in all directions.
It is connected to.

A bearing block 60 is mounted and fixed in the vicinity of the guide column 54 on the second plate 22. A screw shaft 62 extending in the Z-axis direction is rotatably supported on the bearing block 60. The screw shaft 62 has a threaded portion formed in a portion located above the bearing block 60, and a vertical movement bracket 64 is screwed into the threaded portion. Further, the screw shaft 62 extends below the second plate 22 and is connected to the shaft 26 at a lower end portion thereof via a bevel gear 48.

A spherical joint 66 is attached to the vertical movement bracket 64 so as to be rotatable in all directions. Then, the latch pin 70 penetrates the collar 72 and the spherical joint 66, and the third plate 24
It is adapted to be screwed into a screw hole 76 of a slider 74 which is slidably connected in the X-axis direction. As a result, the slider 74 is supported by the vertical movement bracket 64 so as to be rotatable in all directions.

With the above structure, when the shaft 26 is driven to rotate, the screw shaft 62 rotates, and the vertical movement bracket 64 moves up and down accordingly.
The plate 24 rotates about the Y axis with the ball joint 58 as a fulcrum. The rotation about the Y-axis changes the pitch between the ball joint 58 and the spherical joint 66, but this change is absorbed by the relative displacement of the slider 74 and the third plate 24 in the X-axis direction.

Rotating mechanism around X-axis The rotating mechanism around X-axis has substantially the same structure as the above-mentioned rotating mechanism around Y-axis.

That is, a bearing block 78 is mounted and fixed on the second plate 22 in the vicinity of the guide column 56. This bearing block 78 has a Z
A screw shaft 80 extending in the axial direction is rotatably supported. This screw shaft 80 has a threaded portion formed in a portion located above the bearing block 78, and the vertical movement bracket 82 is formed in this threaded portion.
Are screwed together. In addition, this screw shaft 80
Extends below the second plate 22 and is connected to the shaft 34 at its lower end via a bevel gear 48.

A spherical joint 84 is attached to the vertical movement bracket 82 so as to be rotatable in all directions. The latch pin 86 penetrates the spherical joint 84 and is screwed into a screw hole 92 of a slider 90 slidably connected to the third plate 24 in the Y-axis direction. As a result, the slider 90 is supported so as to be rotatable in all directions with respect to the vertical movement bracket 82.

The X-axis rotating mechanism has the above-mentioned Y
There is no element such as the collar 72 of the shaft rotation mechanism, and the latch pin 86 and the spherical joint 84 are relatively slidable in the X-axis direction.

With the above structure, when the shaft 34 is driven to rotate, the screw shaft 80 rotates, and the vertical movement bracket 82 moves up and down accordingly.
The plate 24 rotates about the X axis with the ball joint 58 as a fulcrum. The rotation about the X-axis changes the pitch between the ball joint 58 and the spherical joint 84, but this change is absorbed by the relative displacement of the slider 90 and the third plate 24 in the Y-axis direction.

When the rotational movement about the X axis and the rotational movement about the Y axis are combined, XY between the spherical joint 66 and the spherical joint 84.
Although the pitch in the plane changes slightly, this displacement amount is absorbed by the relative sliding action between the retaining pin 86 and the spherical joint 84.

<Translation mechanism in X-axis direction and Y-axis direction> X-axis direction translation mechanism Holes 94 and 96 are formed at two locations in the vicinity of the column 52 of the second plate 22, and each of these holes 94. ,
The lower end portions of universal joint members 98 and 100 are fixed to 96 so as to penetrate therethrough.

One universal joint member 98
Has its lower end extended downward and is connected to the shaft 32 via a bevel gear 48, and its upper end penetrates the third plate 24 and extends upward,
Is connected to the screw shaft 104 extending in the X-axis direction. The screw shaft 104 is rotatably supported by a bearing block 106 mounted and fixed on the third plate 24. An L-shaped bracket 108 is screwed onto the screw shaft 104. The L-shaped bracket 108 includes the third plate 24.
Is slidably connected in the X-axis direction via a slider 110, and is slidably connected in the Y-axis direction to a fourth plate 112 via a slider 114.

With the above structure, when the shaft 32 is driven to rotate, the universal joint member 98 rotates, and the screw shaft 104 rotates accordingly. As a result, the L-shaped bracket 108 screwed with the screw shaft 104 moves in the X-axis direction. It will be moved. that time,
The slider 110 relatively slides in the X-axis direction, but the slider 114 does not relatively slide in the X-axis direction. Therefore, the fourth plate 112 moves in the X-axis direction together with the L-shaped bracket 108.

Y-axis direction translation mechanism The Y-axis direction translation mechanism has the same structure as the X-axis direction translation mechanism.

That is, the lower end of the other universal joint member 100 is extended downward and is connected to the shaft 36 via the bevel gear 48, and the upper end thereof penetrates the third plate 24. And extends upward, and is connected to a screw shaft 118 extending in the Y-axis direction via a bevel gear 116. The screw shaft 118 is rotatably supported by a bearing block 120 mounted and fixed on the third plate 24.
The screw shaft 118 has an L-shaped bracket 1
22 is screwed together. This L-shaped bracket 122 is
The third plate 24 is slidably connected in the Y-axis direction via a slider 124, and is also slidably connected to the fourth plate 112 in the X-axis direction via a slider 126.

With the above structure, when the shaft 36 is driven to rotate, the universal joint member 100 rotates, and the screw shaft 118 rotates accordingly. As a result, the L-shaped bracket 122 screwed with the screw shaft 118 moves in the Y-axis direction. It will be moved. that time,
The slider 124 relatively slides in the Y-axis direction, but the slider 126 does not relatively slide in the Y-axis direction. Therefore, the fourth plate 112 moves in the Y-axis direction together with the L-shaped bracket 122.

<Rotating Mechanism Around Z-Axis and Translational Mechanism in Z-axis Direction> Holes 128 and 130 are formed at two central portions of the second plate 22, and these holes 128 and 130 are formed.
130 includes universal joint members 132, 13
The lower ends of 4 are fixed through each.

One universal joint member 132
Has a lower end extending downward and connected to the shaft 28 via a bevel gear 48, and an upper end penetrating the fourth plate 112 and extending upward. A spur gear 136 is fixed to the upper end of the universal joint member 132. The lower end of the other universal joint member 134 is extended downward and is connected to the shaft 30 via the bevel gear 48, and the upper end thereof penetrates the fourth plate 112 and extends upward. There is. A spur gear 138 is fixed to the upper end of the universal joint member 134.

The spur gears 136 and 138 are provided adjacent to each other in the X-axis direction. Also, the fourth plate 1
In FIG. 12, a rectangular hole 140 is formed at a position adjacent to the spur gears 136 and 138 in the Y-axis direction. The Z-axis rotary translation mechanism unit 142 is attached to the rectangular hole 140.

The Z-axis rotary translation mechanism unit 142 is
A pair of bearing blocks 14 fixed adjacent to each other
4, 146 and these bearing blocks 144, 14
6, a screw shaft 148 and a spline shaft 150 that are rotatably supported and extend in parallel, spur gears 152 and 154 that are fixed to the upper ends of the shafts 148 and 150, respectively, and a screwing engagement with the screw shaft 148. Member 156 and spline shaft 150
The arm member 1 including the spline coupling portion 158a and the arm portion 158b that are spline-coupled with each other (the spline shaft 150 is relatively movable in the axial direction but is relatively rotatable about the axis).
58 and the screw member 156 from both sides in the axial direction of the screw shaft 148, and the spline in a state where the spline coupling portion 158a of the arm member 158 is sandwiched so as to be relatively rotatable and slidable from both sides in the axial direction of the spline shaft 150. The upper and lower connector members 160 are loosely fitted to the shaft 150.

The Z-axis rotary translation mechanism unit 1
42 is the pair of bearing blocks 144, 146.
Is fitted into the rectangular hole 140 of the third plate 24, and the screw shaft 148 and the spline shaft 150 are
Are fixed to the fourth plate 112 while extending in the Z-axis direction. When this fixing is performed, the spur gears 152 and 154 mesh with the spur gears 136 and 138 of the fourth plate 112, respectively.

When the spline shaft 150 is rotated, the arm member 158 does not move in the axial direction of the spline shaft 150, and the spline shaft 1 does not move.
While rotating around the axis of the spline shaft 150 with 50, the spline shaft 150 only idles with respect to the connector member 160.

On the other hand, when the screw shaft 148 is rotated, the screw member 156 and the connector member 160 screwed with the screw shaft 148 move in the axial direction of the screw shaft 148. At this time, since the connector member 160 is loosely fitted to the spline shaft 150, the axial movement is performed without being rotated by the rotation of the screw shaft 148. At that time, the arm member 158
Does not rotate due to the rotation of the screw shaft 148, but since it is sandwiched by the connector member 160 from both sides in the axial direction of the spline shaft 150, it may move in the axial direction as the connector member 156 moves in the axial direction. Become.

With the above structure, when the shaft 28 is driven to rotate, the universal joint member 132 rotates, which causes the screw shaft 148 to rotate, which causes the screw member 156, the connector member 160, and the arm member 158 to move together. Axis direction (Z
It will be translated in the axial direction). Further, when the shaft 30 is driven to rotate, the universal joint member 134 rotates, and accordingly, the spline shaft 150 rotates,
As a result, the arm member 158 rotates about the axis of the screw shaft 148 (around the Z axis) while maintaining the fixed position in the Z axis direction.

As described in detail above, X in this embodiment
The rotation mechanism about the axis and the Y-axis is the third plate 24.
Is rotatably supported on the robot main body 14 via the first and second plates 20 and 22 about the respective axes of the X axis and the Y axis. Screw shaft 6 through
When 2 and 80 are rotationally driven, the vertical movement brackets 64 and 82 move up and down accordingly, which causes the third plate 24 to rotate about the Y axis and the X axis with the ball joint 58 as a fulcrum. be able to.

Therefore, according to the present embodiment, the tool 16 is related to the X-axis and the Y-axis without the conventional structure in which the mechanisms for the rotational movements about the X-axis and the Y-axis are stacked. A rotary movement can be performed.

In this case, in this embodiment, the pitch change between the ball joint 58 and the spherical joint 66 due to the rotation around the Y axis can be absorbed by the relative displacement between the slider 74 and the third plate 24 in the X axis direction. Yes, and ball joint 5 by rotation around the X axis
The pitch change between the slider 8 and the spherical joint 84 can be absorbed by the relative displacement of the slider 90 and the third plate 24 in the Y-axis direction. Further, the pitch change in the XY plane between the spherical joint 66 and the spherical joint 84 caused by the combination of the rotational movement around the X axis and the rotational movement around the Y axis is caused by the relative sliding between the latch pin 86 and the spherical joint 84. Can be absorbed by operation.

Further, in the X-axis direction and Y in this embodiment.
The axial translation mechanism has a configuration in which the fourth plate 112 is supported on the third plate 24 so as to be able to translate in the respective axial directions of the X axis and the Y axis. Universal joint member 9
Screw shafts 104, 118 through 8, 100
When L is driven to rotate, the L-shaped bracket 10
8 and 122 move in the X-axis direction and the Y-axis direction, whereby the fourth plate 112 is moved relative to the third plate 24 by X
It can be translated in the axial direction and the Y-axis direction.

Therefore, according to the present embodiment, the tool 16 is related to the X-axis and the Y-axis without the conventional structure in which the mechanisms for the translational movement of the X-axis and the Y-axis in the axial direction are stacked. A translation movement can be performed.

At this time, in the present embodiment, the combination of the slider 110 capable of relatively sliding only in the X-axis direction and the slider 114 capable of relatively sliding only in the Y-axis direction allows the fourth plate 112 to move in the Y-axis direction. The fourth plate 112 can be translated in the X-axis direction together with the L-shaped bracket 108 without impairing the translational motion function, and similarly, the slider 124 which is relatively slidable only in the Y-axis direction and only in the X-axis direction. In combination with the slider 126 that can slide relative to the fourth
The fourth plate 112 can be translated in the Y-axis direction together with the L-shaped bracket 122 without impeding the translational movement function of the plate 112 in the X-axis direction.

FIG. 3 is a view showing a modification of the translation mechanism in the X-axis direction and the Y-axis direction in the above embodiment.

In this modified example, as shown in FIG. 3A, a spline coupling mechanism 162 is used instead of the slider 114 for preventing the inhibition of the Y-axis direction translational function of the fourth plate 112. A slider 12 for preventing the inhibition of the X-axis translational movement function of the fourth plate 112.
Instead of 6, a spline coupling mechanism 164 is used. The spline coupling mechanism 162 includes a spline rod 168 integrally formed with a screwing member 166 that is screwed with the screw shaft 104, and a spline sleeve 170 fixed to the fourth plate 112. It comprises a spline rod 174 integrally formed with a screw member 172 screwed to the screw shaft 118, and a spline sleeve 176 fixed to the fourth plate 112. Furthermore, in this modification, the screw shafts 104 and 118 are
The motors 42A and 42B are each directly driven. Other configurations are the same as in the above embodiment.

With the above structure, the screw shaft 11 is driven by the motor 42B as shown in FIG. 3 (b).
When 8 rotates, the screw member 172 screwed to the screw shaft 118 and the spline rod 174 move in the Y-axis direction. At this time, the spline coupling mechanism 162 allows relative sliding in the Y-axis direction, while the spline coupling mechanism 164 does not permit relative sliding in the Y-axis direction. Therefore, the fourth plate 112 together with the spline rod 174 moves in the Y-axis direction. It will be translated. Similarly, FIG.
When the screw shaft 104 is rotated by the drive of the motor 42A as shown in FIG.
A screwing member 166 and a spline rod 16 that are screwed with
8 moves in the X-axis direction. At that time, the spline coupling mechanism 164 allows relative sliding in the X-axis direction, while the spline coupling mechanism 162 does not permit relative sliding in the X-axis direction, so the fourth plate 112 moves in the X-axis direction together with the spline rod 168. It will be translated.

As described above, also in the present modification, the tool 16 is not required to have the structure for stacking the mechanism for the translational movement in the axial directions of the X-axis and the Y-axis, unlike the conventional case.
A translational movement about the axis and the Y axis can be performed.

[Brief description of drawings]

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

FIG. 2 is an exploded perspective view showing an overall configuration of a fine movement mechanism in the above embodiment.

FIG. 3 is a view showing a modification of the translation mechanism in the X-axis direction and the Y-axis direction in the above embodiment.

FIG. 4 is a view showing a robot (a) having no fine movement mechanism and a robot (b) having a fine movement mechanism in comparison.

FIG. 5 is a view showing a conventional example of a rotating mechanism about an X axis and a Y axis.

FIG. 6 is a view showing a conventional example of a translation mechanism in the X-axis direction and the Y-axis direction.

[Explanation of symbols]

2 parts 2a positioning part 4 assembly target 4a positioned part 12 robot 14 robot body 16 tool 18 fine movement mechanism 20 first plate 22 second plate 24 third plate (rotation support plate) 42, 42A, 42B motor (rotation) Drive means, translational drive means) 58 Ball joint 60, 78, 106, 120 Bearing unit 62, 80, 104, 118 Screw shaft 64, 82 Vertical movement bracket 66, 84 Spherical joint 70, 86 Locking pin 72 Collar 108, 122 L-shaped bracket 112 Fourth plate (translation support plate) 142 Z-axis rotary translation mechanism unit 162, 164 Spline coupling mechanism 166, 172 Screwing member 168, 174 Spline rod 170, 176 Spline assembly

Claims (1)

[Claims] 1. A robot main body, a tool attached to the tip of the robot main body, and a tool of predetermined two orthogonal axes with respect to the robot main body so as to finely adjust the position and / or posture of the tool. A fine movement mechanism that is rotatable about each axis and is connected so as to be translatable in the respective axial directions of the two orthogonal axes, in a component assembling apparatus that performs component assembly using a robot, wherein the fine movement mechanism comprises: A rotation support plate rotatably supported by the robot main body around each of the two orthogonal axes, and a translation support plate supported by the rotation support plate for translation in each of the two orthogonal axes. A support plate, a rotation driving unit that rotates the rotation support plate around each of the two orthogonal axes, and a translation that translates the translation support plate in each of the two orthogonal axes. Assembling device of parts characterized in that it comprises a moving means.