JPH09506711A

JPH09506711A - Assembling device for line-symmetric and non-line-symmetric rigid bodies

Info

Publication number: JPH09506711A
Application number: JP51687195A
Authority: JP
Inventors: エイチ．ジュニアスタージズ，ロバート; ラオワッタナ，シット
Original assignee: Carnegie Mellon University
Current assignee: Carnegie Mellon University
Priority date: 1993-01-28
Filing date: 1994-12-09
Publication date: 1997-06-30
Anticipated expiration: 2013-09-24
Also published as: JP2802405B2

Abstract

(57)【要約】物体を被加工片の中へ挿入するための組立て器と併せて使うアジマス角補正器であって、組立て器の有する中心線は、物体を被加工片へ挿入する際の挿入軸とほぼ一致する。アジマス補正器は、以下のものを含む。（１）第一構材。（２）第二構材。（３）組立て器を用いて物体を被加工片に挿入しようとして接触させられるときに、第二構材と物体を、中心線のまわりに、一種類以上の角度、一種類以上の方向に回転させるために、第一構材と第二構材を接続する構成物。 (57) [Summary] An azimuth angle compensator used together with an assembler for inserting an object into a work piece, wherein the center line of the assembler is used when inserting the object into the work piece. It almost coincides with the insertion axis. The azimuth corrector includes: (1) First construction material. (2) Second construction material. (3) When the object is brought into contact with the work piece by using the assembler and brought into contact with each other, the second structural member and the object are rotated about the center line in one or more kinds of angles and in one or more kinds of directions. A structure that connects the first structural member and the second structural member to each other.

Description

【発明の詳細な説明】線対称、非線対称剛体の組立て装置発明の分野本発明は組立て装置に関するものであって、特に線対称、非線対称の剛体を、半製品や製品のような被加工物へ機械的に挿入する装置に関するものである。従来技術の説明従来、機械またはロボットによって剛体を半製品や製品へ挿入する工程を含んだ組立て作業に際して、はまりあうべき部材の位置が、はまりあう部材の形によって隠されて、不確かとなる問題があった。例えば、はめあうべき部材に加える力の方向が不適切であると、部材同士は押し合い(jam)、力の方向が修正されるまで動きがとれなかった。もし、組立て機械や部材寸法が、精度不足のため不正確であると、部材は楔(wedge)になり、部材を引き離して、組立て工程を繰返すまで、動かすことができない（書斎の引き出しが引掛る日常の経験は、楔の一般的な例である）。組立て作業の大部分は、この単純な「孔挿入の引掛り」の機構と、その変形例として説明できる。機械的な組立て作業を確実に行なうために現在採られている方法として挙げられるのは、緩いあそびをもたせたり、面取りを大きく施したり、部材がはまりあう確率を高めるために振動させたり、高性能の力センサーやアクチュエーターを使って、部材の位置やスピードを強制的に調整したり、受動的(passive)なコンプライアンス(compliance)を利用することである。特に、受動的なコンプライアンス装置が実用で成功してきたのは、組立て用の設備機材としてみた場合、複雑さとコストが両立するという経済性のためである。その上、部材をはめ込みやすくするための諸細工（例えばあそびや面取りを大きめに施すこと）は、組立てが容易になるかわりに、外観や機能や性能が犠牲になるかもしれないものであるが、コンプライアンスの利用によって、挿入する部材と挿入される被加工部(workplace)にそういう細工を採り入れる必要性が減る。例えば、アメリカ特許第４０９８００１号に開示されたリモートセンターコンプライアンス(remote center compliance)（ＲＣＣ）器材は、面取りがあり、嵌め合い公差が極めてわずか又はマイナス（つまり抵触関係がある）のときは、線対称部材の組立てには有効である。ＲＣＣ器は、組立て時の部材をはめようとする力に応じて働き、部材をより真直な配置に調整する。そのメカニズムの本質は、連結及び／又はばねにあり、挿入する部材の先端か、その部材を受入れる孔の縁にほぼ近い空間中の点周りでコンプライアンスする。他のメカニズムでは、部材と製品が最初に接触する点からもっと離れたところでしか、コンプライアンスの効果が得られない。その場合、接触によって生じる力とモーメントのために、部材が理想的な挿入の中心線からずれてしまうことが多い。アメリカ特許第４４７７９７５号に開示された、調整可能なＲＣＣは、アメリカ特許第４０９８００１号のＲＣＣ器を改良して、挿入の中心線上、もしくは中心線より少し横の部材に関してコンプライアンスの中心の位置を調整することができるようにしてある。これまでのＲＣＣの欠点は、その連結やばねは、主にＲＣＣの共通中心軸か中心線を含む仮想平面上で働くような力やトルクに対してばかりだということである。即ち、装置の側面からや「平面図」で見るとよくわかる通りのＲＣＣの中心線と同一平面上にあって、挿入時の部材をはめる際に生じる力には、ＲＣＣは対処するけれども、ＲＣＣ器の「平面図」で見ればよくわかる通り捻り、又は旋回力には対処しない。別の言い方をすると、斜め平面図で見ると、典型的なＲＣＣは、適正に挿入するために必要とされる旋回の動きに逆って、部材の面取り部分に生じる力に応答する。更に、ＲＣＣの中心線を含む平面上で働く力やトルクに対してＲＣＣは、そのそれぞれの平面上だけでしか補正運動を生じない。アメリカ特許第４０９８００１号のＲＣＣが、被加工部に挿入する作用構材や部材の中心線のまわりの旋回を防ぐためのトルク防止措置の必要なことが明記されていることからも、この点はよくわかる。従って、そのようなＲＣＣは、楔と孔の形が線対称（円形）の場合には問題ないが、部材の断面が円形でない（非線対称）場合は、挿入軸（挿入軸は事実上ＲＣＣの中心線と一致することが多い）の配置に狂いがあってはならない。非線対称な部材について挿入軸の配置の狂いをなくすことは、全く出来ないとまではいわなくても、きわめて難しいので、既出のＲＣＣでは、例えば正方形の楔を正方形の孔にはめるような非線対称部材の挿入がうまくいかないことが多かった。従って、部材の挿入軸の位置決めに狂いができる状況下でも、線対称部材、非線対称部材をともに各々の形の孔に挿入できる装置は、有益である。発明の要旨本発明は、非線対称部材挿入の問題を、受動的なアジマス角補正器によって解決するものである。それは、挿入時の部材をはめようとする時に生じる力の、挿入軸と同じ方向か、大体これに平行な力の方向の成分に対応すると共に、その部材をはめようとする力の成分に対して垂直に作用する横向きの補正運動や力を加える。この横向きの運動や力は、引き続いて挿入軸のまわりの補正回転や補正トルクを生起させる。運動のみについて述べると、例えば本発明によって指示された楔などの作用部材が、挿入すべき目的物に接触したとき、及びそれに対して相対的に上下動したとき、挿入軸の周りで捻りを生じて応答する。即ち、楔の動きは、右巻か左巻の、ねじ又は螺旋を描く。力という点だけで見ると、部材同士が接触したり、相対位置が上下動すると、楔にトルクを生じて応答する。それで、楔は時計回りか反時計回りのジャイロスコープの様にふるまう。回転に関して、螺旋運動のピッチやジャイロスコープ関係との比率の望ましい範囲については後述する。本発明の全実施例に共通の構造の特徴を挙げると、まず、ごく普通に従来型のＲＣＣをつけた組立て器が繋がるようになっている第一構材と、組立てるべき被加工片に形成された孔へ挿入すべき目的物などの作用手段(operator means)に接続された第二構材と、そして、第一構材と第二構材をつなぐ接続手段である。この接続手段は、組立てる被加工片に作用手段を挿入しようとする際、第一構材に連動して第二構材および作用手段が、組立て器の中心線（あるいは部材挿入軸）のまわりを、一種以上の角度、方向に回転するようなトルクを生じさせるように構成する。これらの構成要素をつないでいる、本発明の装置の望ましい各種構成を、以下に更に詳しく説明する。本発明の重要な特徴は、挿入軸のまわりの補正旋回(twist)やトルクが予め決定されることである。能動的要素が存在しないので、（時計回りか、反時計回りかの）初回の回転検出は、嵌め合い部材の接触状況によってではなく、使用した機器の初期形状によって決まる。初回の補正動作によって、挿入軸からの初期状態の角度のずれが、確実に小さくなるようにするには、部材をわざと本来あるべき方向より少し角度をずらして入れなくてはならない。この角度のずらしは、理想的には角度の狂いとして考えられる値の最大値と同じにしておくのが望ましい。別な言い方をすれば、例えば、部材寸法の精度不足や組立て機械の精度のために楔の配置が最大でプラスマイナス１度狂うことがわかっているとすると、部材とそれをはめこむ物の間で、補正器の動きと反対の向きに、始めからアジマス角が１度ずれるようにしておかなくてはならない。すると、挿入のされ方が、たまたまどうであっても、実際に補正の動きは必ずプラスかゼロになる。もし、初期ずれがこれより大きければ、不必要な余分の動きをする。初期ずれがこれより小さければ、補正の動きは不適当な向きになり、組立て作業は失敗する可能性があるが、やり直すのは容易である。更に、本発明の実施例で、部材を始めにずらしておく必要がないものも示す。本発明についての、その他の詳しい説明や目的や利点は、次の望ましい実施例と、発明の使用方法の説明によって、明らかとなるであろう。図面の簡単な説明本発明は、例示のためだけに添付した図面の望ましい実施例についての以下の説明によって、一層明らかとなるであろう。第１図は、線対称部材を被加工片に挿入するための、従来のリモートセンターコンプライアンス（ＲＣＣ）器材を、正面から見た断面図である。第２図は、被線対称部材が被加工片に対して不適切な配置で挿入されたときの、部材をはめようとする力の特定方向への成分、及びそのような不適切な配置がおこった場合の本発明の装置による補正力を示した見取図である。第３Ａ図は、望ましい第１実施例を示した見取図で、本発明に従って構成されたアジマス角補正装置である。第３Ｂ図は、第３Ａ図に示した装置を組立て器に繋いだ物の、側面図である。第３Ｃ図は、第３Ａ図のアジマス角補正装置の連結部のある初期段階の形状の拡大図である。第３Ｄ図は、第３Ａ図のアジマス角補正装置の連結部の別の初期段階の形状の拡大図である。第４Ａ図は、本発明に従って構成されたアジマス角補正装置の、さらに望ましい実施例の見取図である。第４Ｂ図は、第４Ａ図のアジマス角補正装置が実際に作動している形の側面図である（図を見やすくするため、装置の一部を省略）。第４Ｃ図は、第４Ｂ図と同じ様な図で、第４Ａ図のアジマス角補正装置の別の実施例である。第５図は、本発明に従って構成されたアジマス角補正装置の、さらに望ましい実施例を組立て器に繋いだ物の、正面から見た断面図である。第６図は、本発明に従って構成されたアジマス角補正装置の、さらに望ましい実施例を組立て器に繋いだ物の、正面から見た断面図である。第７Ａ図は、本発明に従って構成されたアジマス角補正装置の一部を下側から見た図である。第７Ｂ図は、第７Ａ図に示したアジマス角補正装置の実施例を組立てた物の、側面図である（図を見やすくするために、装置の一部を省略）。第７Ｃ図は、第７Ｂ図と同じ様な図で、第７Ａ図のアジマス角補正装置の別の実施例である。第７Ｄ図は、第７Ｂ図、第７Ｃ図と同じ様な図で、第７Ａ図のアジマス角補正装置の別の実施例である。実施例の詳細な説明第１図が示すのは、技術者達に知られているリモートセンターコンプライアンス（ＲＣＣ）システムの典型的な構造である。実際に、第１図のＲＣＣシステムは、アメリカ特許第４０９８００１号において進められた器具の典型である。公知の他のＲＣＣ器もそうなのだが、第１図のシステム10では、コンプライアンスの中心となる一点を設定し、それは空間の１点であって、それの周りでリモートセンター(remote center)の点があり、並進運動が始まるところでもある。このリモートセンターの点の位置は、ＲＣＣ自身やそれの作用構材の内部や、作用構材によって運ばれる部材の内部、またはＲＣＣの外部に設定することも出来る。リモートセンターコンプライアンスシステム10は、回転運動を起させる手段12 と、並進運動を起させる手段14を含む。作用構材16は、回転運動手段12から延びてきており、回転運動手段12と並進運動手段14は繋がっていて、システム10が接合されている組立て用機器の一部18から延びてきている。作用構材16が、実際に被加工片に挿入される部分であってもよいことが理解されよう。また、作用構材 16は、ロボットハンド、機械グリップ、かぎづめ、クランプのように機械的に部材を操って、挿入したり、あるいは機構によって向きを定めるものでよい。回転運動手段は、板20という部分と環22という部分を含み、これらは、フレクシャー (flexure)24、26、28のような部品によって相対的に回転可能に繋がれている。フレクシャー24、26、28は、主要運動部と、連結板20、22の近傍の適当な位置にて夫々へ形成した一対の凹み30、32；34、36；38、40を具えており、運動がこれらのくぼみ部分のところで強められるようにしてある。システムから離れた点である中心50を始点に放射状に延びる線（radius）42、44（示されていない）、46 が出ていて、フレクシャー24、26、28はこれらの線上に延びる。また、中心50があるのは、作用構材 16（または挿入に使われる部材）の自由端点52の、上か、近くか、離れた位置である。並進運動を起させる手段14は、機械18の円筒壁55と一体のリップ部54のような部分と、板22によってつくられている他の部分であり、また該他の構材は、並進運動機構と回転運動機構の両方の部材をなす。並進運動を起させる手段14は、他にも、板22とリップ部54の間にフレクシャー56、58（第１図ではフレクシャー26 のかげになって見えない）、フレクシャー60があり、それぞれには、フレクシャー24、26、28に関連して形成した凹みと同様に、くぼみ部分62と64、66と68、70 と72がある。以下に説明する通り、作用構材16の端点52上に働く並進力が、フレクシャー56、58、60によって、相対的な並進運動を板20と22の間に起こし、他方、端点52の周りのトルクが、フレクシャー24、26、28によって、相対的な回転運動を板20と22の間に起こす。作業中、このシステムは、機械部18とともに、挿入軸Ｉ方向に沿って動く。この軸は、実質的に作用構材16の中心線や、板20と22の各中心を結んで延ばした、組立て器の中心線とも一致する。この動きの結果、作用構材は、被加工片73上の孔71へ向かって動き、その中へ入る。作用構材が挿入力Ｆ_Iを受ける一方で、挿入を邪魔しようとする力即ちＭが、面取り部分75から作用構材端点 52にかかるが、Ｍに対処することで、挿入軸Ｉを含む仮想平面上での作用構材の位置を、回転運動を起させる手段12と並進運動を起させる手段14によってうまく調整できる。図では、接触による力Ｍは、成分に分解して表示し、接触がおこったときの鉛直方向成分をＭv、水平方向成分をＭ_Hとして本文では表す。Ｍ_Hは、並進運動を起こさせる手段12の操作によって、作用構材16にどの程度の並進運動をさせるかを決定する。一方、Ｍ_HとＭvを合成して生じたモーメントを、各々の中心50からの距離で掛けたものが、回転運動を起させる手段12による、板20と22 （しかるに作用構材16）の、中心50に関する相対回転Ｒの方向を決める。始めに述べた通り、今説明した型のＲＣＣが有効なのは、線対称（円い）物を、それと同様の形と大きさの孔のあいた物に挿入する場合である。しかし、この装置は、例えば多角形や、楕円形や、たわみ性のあるような物を嵌め、孔に挿入するのに、物と挿入孔との間にアジマス角の配置の狂いができるような場合には、安定した挿入を行うことができない。そのような状況下でおこる問題点を、図解によってより深く検討するために、以下第２図で議論する。第２図は、一般的な立方体型の角柱で、被加工片73上の孔71に合うように作られた、底面Ｂ、天面Ｔ、四壁Ｗを有する非線対称物体Ｏを描いたものである。物体Ｏを孔71へ挿入しやすくするために、孔71の縁全体に、面取り75が施されている。図のように、物体Ｏは、その中心線か挿入軸Ｉのまわりで、孔71とはアジマス角がψだけ、ずれている。そのため、物体Ｏを孔71へ挿入しようとすると、底面Ｂの角が面取り75に当たり、それぞれの場所で、面取り75から物体Ｏに、挿入を邪魔するか進める力Ｍがかかる（鉛直方向成分のみ表示）。従来のＲＣＣであれば、非線対称物体Ｏは、このように面取り75に邪魔された状態のまま、動けなくなる可能性もあるので、並進及び／又は挿入軸Ｉを含むどの仮想平面でも、コンプライアンスのリモートセンター点（remote center of com pliance）（図示していない）についての回転を行なって、ＲＣＣが補正できるようにするべきである。例えば、仮に面取り75の勾配が急で、摩擦が少なく、捻り回転方向のＲＣＣの抗力が比較的弱ければ、接触即ち挿入時の力の水平成分によって、被加工片73はきちんと配置されるかもしれない。しかし、捻り回転方向の抗力が大きかったり、さもなくば、ψが面取りに対して大きすぎて、被加工片が73の上面に当たるようなら、挿入は失敗になるであろう。しかし、図中のＣに表わすように、挿入軸のまわりに、挿入軸に垂直で、適切な大きさの補正力が与えられれば、効果的にアジマス角の配置の狂いは修正されるであろう。そのようにして、残されていた位置決めに関するすべての問題は、固有の回転及び／又は挿入軸Ｉを含む適当な仮想平面内でのＲＣＣによって起こされた補正並進によって解決され、物体Ｏは孔71'へ適切に挿入される。本発明によって、非線対称物体の挿入の問題が解決することを、第２図で、アジマス角補正器のつくりと働きを単純化したものを示して図説したが、これは、従来のＲＣＣと組み合わせて利用することが出来る。即ち、本発明では、非線対称物体が挿入先の被加工片に対してアジマス角がずれる場合に、挿入軸のまわりで力を生じさせ（しかも、その軸を含む仮想平面に垂直な向きから）補正力を生じさせるような器機について、単純化した構成で簡潔な実施例を何通りか示したが、それらは例示であって、限定的なものではない。このことに関連して、第３A、３B図に示すのは、本発明に従って構成されたアジマス角補正器の望ましい第１実施例であり、参照番号110と表わす。以下の説明によって一層よく判るように、このアジマス補正器110は、ピッチ可変式アジマス補正器である。第３A、３B図の受動的アジマス角補正器は、全く機械的な装置であり、本発明の他の全実施例もそうである。さらに、本文に開示する各実施例は、構成において、次に挙げる特徴を共有する。（１）組立て器につなぐようにしてある第一構材。（２）通常は従来型リモートセンターコンプライアンス（ＲＣＣ）器を通じて、作用手段につなぐようにしてある第二構材。尚、その作用手段は、組み立てる被加工片上のはめ孔に挿入する物体を含み、組立て器の中心線は、事実上、作用手段の挿入軸と一致する。（３）組み立てようとする被加工片に作用手段が接触させられた際に、第二構材と、それに伴って作業部が、一種以上の角度、方向で、第一構材と相対的に、中心線のまわりで回転するように、第一構材と第二構材をつなぐ手段。第３A、３B図に示す器機110では、第一構材112と第二構材114は、互いに接続手段によって影響しあえるようになっており、その接続手段は、以下ではまとめて116としてもっと詳しく説明する。この実施例にしたがって、第一、二構材、1 12と114の形は正多角形（正方形など）の板とし、説明の便宜のため、本文では、これらを上板112、下板114とする。接続手段116は、軸芯118を一部に含む。上下板112と114の各中心を通る線は、軸芯118と重なることが望ましい。下板1 14を軸芯118に固定し、上板は軸芯のまわりに回転できるように取り付ける。出来れば、長い軸受け手段120のような何かで、板112と114の平行を常に保つことが望ましい。軸受け手段120は、上板112とは一体であっても、又は上板に取り付けられた別構材であってもよく、軸芯118をぴったり囲んでおり、長いブッシュやカラーで構成される。接続部116は、第３A、３B図の構成に示すように、複数の連結構材122による誘導手段を含むことがさらに望ましく、それらは同一の角度に傾き、一端は上板11 2に取り付けられ、もう一端はそれに対応する下板114の点に取り付けられる。連結構材122は、長さを等しくし、出来れば、球型軸受け、ボールソケット型継手やその他連結構材がどの方向にでも自由に回転することができるような、ほぼ自在の継手手段124で、板112と114に取り付けるとよい。板112と114との連結構材は、軸芯118と板112、114の中心軸Aから等距離r上で、各々対応する点に取り付ける（第３Ｂ図）。本願の望ましい構成案で、連結構材122は継手手段124によって上下の板112と114の頂点に取り付けると示したが、連結構材122は、軸芯118の中心軸から等距離上でさえあれば、板112と114の、向かい合う対応点のどこにでも取り付けられることがわかる。連結構材122と継手手段124のおかげで、下板11 4は、上板112に連動して、様々なピッチの螺旋運動を生じさせる。また、こういった連結が一つでもあれば、この運動はおこせるが、実用には、上述のように、数個の連結構材を使用して、軸芯118の中心軸Aのまわりの力を等分に分担するのが普通である。本願の望ましい構成では、第一構材もしくは上板112を、組立て機械の固定された部品118に取り付ける手段は、何でもよい。上板と組立て機械の間に、環状スペーサー手段125を設けて、作動中におこる軸芯118の軸振れを吸収するのが望ましい。後で詳しく述べるが、アジマス角補正器110と、以下に説明する作用構材128の間に、従来のＲＣＣ器126（第３図に破線で示す）を設置するとよい。でなければ、アジマス角補正器110と組立て機械の間に、ＲＣＣ器126を設置してもよい。即ち、「組立て器」という言葉によって込められている意味には、ただの組立て機械と、ＲＣＣ126のようなＲＣＣと合体した組立て機械の、両方が含まれていることが理解されよう。第二構材もしくは下板114は、ＲＣＣ器126に繋っていて、それがまた作用構材 128に繋がっている。第１図のＲＣＣ10のときに既述した作用構材16と同じく、作業構材128は、組み立てる被加工片のはめ孔に実際に挿入される物体であってもよく、あるいは、ロボットハンド、機械グリップ、かぎづめ、クランプなどのように、挿入する物体を操作する形状としてもよい。しかし、いずれの場合にしろ、説明の便宜のため、128の部分は、まとめて単に「作用構材」として議論することにする。接続手段116は、更に付勢手段130を含む。付勢手段130は、圧縮ばねや、捻りばね等、上下の板112と114の少なくとも一方に力を与えて、板間隔を保つものならよい。本願の望ましい構成では、付勢手段130として、軸芯118のまわりに同芯状に圧縮ばねを配置した。ばね130の一端を、第一構材112の下面につけ、もう一端を、第二構材114の上面につけるか、もしくは、第３B図に示すように、軸芯118上の第１支え部132に取り付ける。ばね130による軸方向の力が、被加工片の組み立て作業中に作用構材の挿入軸Ｉ上に生じる力を調節する。また、その反作用によって、継手手段124を通じて、連結構材122から、挿入軸Ｉのまわりに、挿入軸を含む仮想平面とは垂直な方向に力が働く。従って、作業構材の端が、それを挿入する被加工片に当たると、作用構材128が挿入軸Ｉのまわりを回転する一方で、第二構材114とＲＣＣ器126は、軸芯118の中心軸Aのまわりを回転する（できれば挿入軸Iと軸芯118の中心軸Aは一致するのがよい）。付勢手段の力の理想値は、組立て器の出す力に応じて決まるもので、作業中、アジマス角補正器110の各力の成分が振れるのを十分に防ぐ値である必要がある。できれば、付勢手段の接線方向の力をできるだけ小さくして、トルクの打ち消し効果を妨げないようにすることが望まれる。このように見ると、付勢手段130は圧縮ばね、そして第１支え部132は、減摩スラスト軸受け(a nti-friction thrust bearing)か、それに類したものにするほうが望ましい。更に、上板と下板が離れすぎるのを防ぐために、器機110では、もう一つ、軸芯118 の上端にも第２支え部を取り付けることが望まれる。軸芯118の中心軸Aのまわりを、第二構材114が回転する動きは、作用構材128の先ないし末端の平面とほぼ平行である。説明の便宜上、本文では、「アジマス角運動」、あるいは簡単に「アジマス角」という言葉を使って、この回転運動を表わす。また、第二構材114の、軸心118に沿った直線方向の動きは、度々「軸運動」と呼ぶ。加えて、本発明の器機は、専らアジマス、即ち挿入軸Ｉに関する配置の角度の狂いを、補正するものであるから、機械的な組み立て作業において、アジマス角のずれが見込まれる場合には、ＲＣＣ126など、従来型か中心可動のＲＣＣと繋いで利用されることが多いであろう。これに関連して、第３B図に、ＲＣＣ126によるコンプライアンスのリモートセンター点135を示す。既述の通り、コンプライアンスのリモートセンター点135の位置は、作用構材128の先（図に示す通り）でもよいし、実際、挿入軸Ｉの線全体上のどの点でもよい。既に述べた通り、上板112に連動して下板114がピッチ可変の螺旋運動をするが、これを決定するのは、両板の一方に対する他方の初期状態の形(configuration )又は向きである。そのような、初期状態の板の形の一つの例を、第３C図に示す。より具体的には、一本の連結構材122（図を見やすくするため、他は省略）が鉛直方向より約26度傾いているとして、板の形の初期状態を図示する。他の連結構材も同じ角度で傾いていることは、理解されよう。挿入力F_Iに応じて両板を合わせようとする、変位Δzの微小な軸運動がおこると、連結構材の下端は右方へその約２倍動くが、これは、継手手段124 の間の鉛直距離「s」が水平距離「b」の約２倍だからである。また、下板114の動いた角度、もしくはアジマス運動を、Δψラジアンとすると、これは、横方向のずれを、半径rで割ることで得られる（第３B図参照）。同様に、第３D図も、連結構材122が鉛直方向より約63度傾いているとした場合の、板の形の初期状態を示したものである。この場合、両板を合わせようとする、変位Δzの微小な軸運動がおこると、連結構材122の下端は右方へその約半分動くが、これは、この場合では、bがsの約２倍の大きさだからである。つまり、アジマス角の変化量Δ ψは、初期状態での継手手段124の間の距離の鉛直成分sを、水平距離bで割った値に大体比例する。別の言い方をすれば、挿入しようとする力が加わるとアジマス運動が生じるが、一般に、その変化量で軸運動の変位を割れば、ピッチが決まる。ところが、実際には角度（アジマス）の変化は微小なので、実用では、初期状態の形でピッチが決まる。そしてピッチは、rにsを掛けて、bで割ったものに大体等しい。第３D図に示した初期状態の連結の形は、第３C図に比べるとアジマス運動のできる度合が制限されているが、相当大きな挿入力が加わっても耐えられるし、そのような力がよく負荷される重工業の組立て作業においても、実用的な応用を見い出せる。一方、連結構材122の長さを揃えたままで長さを色々に変えれば、ピッチを可変にすることが出来るが、ただし、これを実用で行うのは比較的困難である。調整可能なピッチ補正器のおかげで対処可能になったことのひとつには、作用構材を被加工片の孔に関して旋回させるのに実際に必要な挿入力の大きさを、接触時の摩擦の影響を直接受けて、容易に変えることが出来ることである。部材が平らな表面にぶつかる場合（即ち面取りがない）、摩擦力に対抗してアジマス運動を起こすのに最低限必要なピッチの値は、dとμの積である。ここで、dは、面上の、組立て器機の中心線（普通はこれが挿入軸）から接触点までの距離で、μ は、摩擦係数である。これらの値は全て、組み立てる部材を測定すれば容易に得られる。物体が、面取りした被加工片に接触する場合は、面取りの傾斜に関係する要因がからむが、その場合は、計算が複雑になる。物体を挿入してからアジマス補正運動が起こるまでの間に、器機への予負荷は、付勢手段130の作用の度合で決まる。板112と114の間隔は、ピッチによって変わるので、止めカラーで付勢手段を独立に調整しない限り、この初期状態にかかる有効予負荷も当然変わる。第４A、４B図に於て、同じ参照番号は、第３A〜３D図に関連して説明したのと同じ要素を示す（以下の図についても同様である）。これに示すのは、本発明の、さらに望ましい実施例で、器材110を機能拡張したものである。第４A、４B図の210によって示すアジマス補正器は、言わば可変ピッチ可逆アジマス補正器である。なぜなら、詳しくは後述するが、器材210は、挿入軸のまわりでアジマス角を正逆二方向ともに補正出来るよう構成されているからである。簡潔化のため、第３A〜３D図で定義した構成要素と、構造や機能に特に違いがある場面を除いては、装置210の主要構成分を詳細に説明しないし、また、後述の、本発明の他の実施例も同様である。第４A、４B図に示すように、機械的なアジマス補正器210もまた、中心を通る線が軸芯118と重なるような正多角形（正方形など）板状の第一構材112と第二構材114から成る。下板114を軸芯に固定する一方、軸芯は軸方向に可動で、上板11 2との接合部は回転できるようにする。カラー状の軸受け手段120で、作業中でも両板がおおむね平行関係を保つようにする。器材110と同じく、接続手段には、複数の傾いた等長のリンク構材122、ほぼ自在の継手手段124と、付勢手段130とによって構成された誘導手段を含んでいる。第１及び第２支え部132と134も又具えている。特にこの実施例では、接続手段116には、さらに、複数の突起ないし延長指136 が追加され、該部分に、連結構材122の両端を継手手段124で取り付ける。できれば、突起136の位置は、板の頂点かその付近がよく、下板の突起は上板に向け、上板の突起は下板に向ける。連結構材122は互いに平行に配置し、各連結構材の一端は、継手手段124で、上板の頂点に対応する突起136に付け、各連結構材のもう一端は、継手手段124で、下板のひとつ隣の頂点に対応する突起136に付ける。この様に、構成して配置することによって、作用構材（図示せず）が被加工片に接触させられたとき、突起136とリンク構材122は下板に対して所定のピッチで初期の回転方向が決まる。挿入しようとする力のために連結構材が水平に倒れると、その際ピッチの値は瞬間的に無限大になる（つまり、巡る運動のみが起り、回転は起らない）。両板が互いに進む間に、連結構材の傾斜が反対になり、上板112に連動した下板114の回転の向きも逆になる。可逆ピッチのアジマス補正器210の利点は、第二構材の回転の向き、そしてそれはつまり、はめあう物体と被加工片の相対的な初期方向を予め決めておかなくてよいことである。その結果、初期状態のアジマス運動の補正方向が不適切な場合でも、作業構材や物体を取り付けた板114が本来の配置に回り戻り、そこから反対向きに、適切なアジマス角の配置になるまで回り直すだけである。この間に、作用構材と組立て機械の相対的な回転の動きは、軸方向の受動的なコンプライアンスが吸収する。その上、物体とそれを挿入する被加工片の間に力が働いてもよい。軸運動とアジマス角の間に、厳密な相関関係があるのが理想的なので、後から加わる受動的なコンプライアンスを、その点と挿入軸を含む平面上でx、y 座標で表わす必要がある。だから、本実施例において、ＲＣＣ126（第３B図）のような、従来型、あるいは中心可動のＲＣＣを用いることを勧めるのは、こうした理由のためである。第４C図は、第４Aと４B図で示した、可逆ピッチのアジマス角補正器210の、別の実施例である。210'によって表わすこの実施例は、第４B図の器材210と同じく、完全に押し漬したような感じで描いてある。概念的にも機能的にも器材210'は器材210と本質的に同じである。主な相異点は、連結構材122と継手手段124が、第１図の従来のリモートセンターコンプライアンスシステム10との関連で前述したフレクシャー24、26、28、56、58、60に似た、セカンドクラスの連結器(linka ges)122'に代わっていることだけである。しかし、連結器122'でも、連結構材12 2、継手手段124と同様に、所望のアジマス運動をおこす働きをなし、またフレクシャー24、26、28、56、58、60のように、こういう動きに逆らうことはない。本発明のアジマス補正器の望ましい実施例で、また別のものを、まとめて310 として、第５図に示す。明らかに異なった構成だが、器材310（この器材は、固定ピッチ型アジマス補正器としてもよい）は、第３Ａ〜３Ｄ図で述べた本発明の実施例と、類似点や共通点が多い。これに関連して、第５図では、第一構材（上板）112と第二構材（下板）114から成る機械的な器材を示す。後述するが、器材310の作業モードによると、板112、114の形は実際にはあまり意味を持たないし、円でも楕円でも多角形でも、どんなありふれた形でもよい。板112と114は、中央の円軸118とこれを同芯にぴったり囲む円筒138と、各々の中心軸を共有する。円筒138は板112と固定し、また、円筒138内で軸方向にも回転方向にも可動な軸芯118は板114と固定する。円筒138が中央軸芯118と接する部分でもある、長めの軸受け具120で、板112と114を常に互いに平行に保たれている。器材310には接続手段116を含んでおり、該接続手段は板112と114を接続し、作用構材が内側へ挿入されるべき被加工片（図示せず）に接触させられたとき、作用構材128が挿入軸Ｉの周りで捩れることを許容する即ち、接続手段116の働きは、本質的には、既に述べた対応部材の機能と同じである。しかし本実施例では、接続手段116は、中央軸芯118の外側に、一個以上、出来れば複数のボス140から成る誘導部を含み、それらのボスは、中央円筒138内の螺旋の溝142に嵌め込む。ボス140が溝142の中を移動することで生じるピッチは、その時の角度またはアジマス運動によって分割された軸方向成分の運動に等しく、また、螺旋の角度の正接によっても与えられる。もしくは、筒13 8の内壁上に、中心を向くボスをつけて、それを軸芯118の螺旋溝に嵌め込んでも、同じように接続部を構成できる。どちらの場合にせよ、軸芯118と円筒138のがたつきや遊びを防止するために、螺旋溝はそのボスにぴったりとフィットしなくてはならないが、これは、がたつきがあると、組み立てる部材の相対位置が徐々に不安定になるからである。もちろん、螺旋溝を可変ピッチでつくることもできるが、第３Ａ〜３Ｄ図のアジマス補正器110の連結構材122の長さを揃えたまま可変にしようというのと、同じ様なことをする難度とコストを考えると、一般に実用化に向くとは思われない。これまで説明してきた全実施例の通り、器材310の接続手段は、圧縮ばねの如き、付勢手段130を含んでいる。該付勢手段は板を分離させると共に、作用構材が被加工片に接触させられたときに、挿入軸Ｉの周りでアジマス補正運動を生じさせるのに必要な反力を形成するのに有用である。板が動きすぎないように制限するには、図にはないが、止め具を軸芯上に取り付けるか、軸芯の端に嵌め込んでもよいし、また、円筒138の螺旋溝142も、板の動きを制限する。固定ピッチの補正器310の大きな利点は、例えば、既述の器材110や210より、少ない部材数でコンパクトに製造できることである。その上、挿入されるべき孔に対して作用構材を捩るのに必要な力が実験によって判明しており、そしてその値が適用例によって変らない場合は、この実験例は考慮されるべきである。しかも、本発明の他の実施例もそうであるが、アジマス補正運動が始まる前の初期力は、ばね130の圧縮度で直接決まる。板112と114の間隔の初期値はボス142と溝140で固定されているので、止めカラー（図示せず）で、ばねを独立に調整しない限り、予負荷の効果も一定である。さらに、この器材（本文で開示した他器材も同様に）は、専らアジマス角のずれだけを補正するので、組み立て作業において、上下方向に位置と角度のずれが見込まれる場合には、従来型か中心可動のＲＣＣ126につないで利用することを勧める。加えて、器材310の利点は、機構がコンパクトなので、容易に従来のＲＣＣ器の中心の開口部に合わせて製造できることである。本発明の望ましい実施例で別のものを、第６図に示すが、その特徴の多くは、既述のアジマス補正器310の特徴と同じである。従って、器材310とは特に異なる特徴だけを、詳しく説明する。第６図のアジマス補正器410は、固定ピッチの可逆アジマス補正器の部類にあたる。この器材を構成している第一、第二構材112、114と、接続部116は、器材3 10でも使われているもので、おおむね同じである。しかし、この実施例に限っては、中央の円筒138内にほぼサインカーブかＳ字状の溝142'を設け、一個以上、できれば複数のボス140' を取り付けて、その溝にはめ込むことによって、中央軸芯118の動きが、ほぼサインカーブかＳ字状の経路を辿る。この、大体サインカーブかＳ字状の経路のピッチは、そのときの角（アジマス）の運動によって分割された軸方向の成分の変位に等しく、溝142'上の該当点における溝の角度のタンジェントの値によって決まる。固定ピッチの可逆アジマス補正器410の主な利点は、第４Ａ，４Ｂ図の、可変ピッチの可逆アジマス補正器210のものと似ている。つまり、作用構材128の挿入軸Ｉのまわりの回転の向き、及び、はめあう部材（物体と被加工片）の初期状態のお互いに対する向きを予め付勢しておく必要がない。この用途の特長は、アジマス補正器210と違いは、器材410のほうが少ない部材数でコンパクトに製造できることであり、また、初期状態のアジマス角の補正が不適切な場合でも、挿入する部材に取り付けた板（即ち下板114）が、まず一方向に回転してから、その元の配置まで反対回りで戻り、そこから、多分異なった割合で、その初期方向にこれを続ける。しかし、その間に、器材210も同様だったことだが、組み立てる部材間に力が生じる可能性もある。それで、既に述べたとおり、軸運動とアジマス角の間に、厳密な相関関係があるのが理想的なので、後から加わる受動的なコンプライアンスを、その点と挿入軸を含む平面上でｘ，ｙ，ｚ座標で表わす必要がある。このために、図に示すように、従来型もしくは中心可動のＲＣＣ126を、この実施例につないで使用することを勧める。第７Ａ，７Ｂ図は、本発明に従ったアジマス補正器の、目下の望ましい実施例の、さらに別のものである。510に表わす器材は、固定ピッチコンプライアンス連結アジマス補正器と名称づけられよう。器材510は、第一構材112と第二構材11 4を含み、それらの中心を通る直線は、中央軸芯118に重なる。第一構材（または上板）112は、軸芯の、軸方向および回転方向の運動を吸収する。他方、第二構材（または下板）114は、軸芯に固定する。第一、第二構材、112と114は、この場合も、どんな幾何形状でもよいが、本実施例では体積を小さくするために、円形（図のように）が望ましい。そして、器材の作動中に両板を平行に保つために、カラー状の軸受け手段120もやはり取り付けることが望ましい。この実施例において接続部116は、剪断力対応手段を含む。望ましい配列として、剪断力対応手段は、一個以上、望ましくは複数の剪断力ばね144から成り、それの縦軸Ｌは、軸芯118の中央軸Ａとは距離ｒのところでほぼ垂直な向きに延びる（第７Ａ図）。各剪断力ばね144の両端を取り付けるアンカー構材146は、接続手段116の一部をなしてもいる。望ましい構成案では、アンカー構材は、上板112からは下向きに、また、下板114からは上向きに突き出ていて、斜面148を有することにより、作業中に剪断力ばねの両端面を大体平行に保つ。各剪断力ばね144は、鉛直線に対して傾きを持ち、既出の第３Ａ−３Ｄ図に開示した器材110の連結構材122と同じように、中央軸Ａのまわりに配列される。本案で使う剪断力ばねは、ばねの縦軸Ｌに垂直なコンプライアンス運動をおこさせ、且つばね軸方向の運動に抵抗することによって、下板114にほぼ螺旋状経路の動きをさせる。そのようなばねは、技術分野でよく知られており、例えば、ペンシルバニア州エリーのロードコーポレーション(Lord Corporation)などによって、製造されている。アメリカ特許第4848757号に開示されている、従来のＲＣＣ器で使われているような弦巻ばねでも、事実上、剪断力ばね144と同じように機能し、申し分ない代替物として使える。さらに、横方向の動きを働かせることで、ばねの縦軸Ｌ上の運動を効果的に抵抗することのできるような剪断力対応手段なら何でも（第７Ｃ、第７Ｄ図に例示）、剪断力ばね144の代わりに使える。この実施例では螺旋運動のピッチは、剪断力ばね144が、２枚の板112と114に対する取付け角で決まる。第３Ｄ図に示した初期状態の形状に似せて、剪断力ばね144の鉛直方向からの傾きを約63度と予め決めて、その初期形状を示す。両板を合わせようとする方向の、微小な運動の変位をΔｚとすると、ばねの下端を右方へΔｚの半分の距離だけ移動するが、これは、各剪断力バネの端面が、おおむね平行に保たれているためである。板 114の角度（アジマス）の運動の変化量は、ばねの両端間隔の鉛直成分ｓを、水平成分距離もしくは底面の長さｂで割ったものに大体比例する。そして、ピッチは、ｒ掛けるｂ割るｄの近似値になる。既に説明した他の実施例と比べると、剪断力ばね144は、板をそれぞれに偏向したり、コンプライアンス力の強さが予めわかったり、ピッチを決めて板114の運動を導いたりなどの諸機能を併せ持つ。できれば、剪断力ばね144は、動きすぎないように、止め具（図示されていない）を軸芯118の端につけて、動きを制限することが望ましい。器材510のように、連結部にコンプライアンスのある、補正器のおかげで、非常にコンパクトに、少ない部材数で、補正器が製造できる。挿入孔に対して部材を旋回させるのに必要な力の大きさの実験値がわかっている場合や、異なる適用例間で、コンプライアンスの予負荷や割合は固定して、変化させない場合には、この実施例に注目するべきである。器材510も、既述の他のものと同じく、アジマス角のずれだけを補正するものであるから、機械的な挿入作業において、上下方向に位置と角度にずれが見込まれる場合は、従来型か中心可動のＲＣＣと繋いで利用することを勧める。この実施例の幾何形状はコンパクトなので、従来のＲＣＣの中央開口部にフィットするようにつくることが容易にできる。二つの器材を組み合わせることによって、二次元的（線対称）でも、三次元的（非線対称）な仕事であっても、作業のニーズに応える組み立て道具として、きわめてコンパクトなものとなる。第７Ｃ，７Ｄ図が表わすのは、連結部に固定ピッチのコンプライアンスを採りいれたアジマス角補正器510の、別の実施例で、それぞれ510'と510”の番号で表わす。概念的にも機能的にも510'と510”は、本質的には510と同じである。しかし、第７Ｃ図の器材510'は、弦巻ばね144'を剪断力バネ144の代わりに使っている。同様に、第７Ｄ図の器材510”は、板ばね144”を同じことに使っている。どちらの場合でも、弦巻ばね144'と板ばね144”は、剪断力ばね144と同じく引き離すように付勢し、コンプライアンスの力が予めわかるようにし、ピッチを決定して、板の運動を導くなどの諸機能を併せ持つ。更に、アジマス補正器の全実施例で、連結構材122と継手手段124が使われているが、そのような連結構材や継手手段の代わりに、第４Ｃ図のセカンドクラスの連結構材122'や、第７Ａ〜７Ｄ図の剪断力バネ144、弦巻ばね144'、板ばね144” と同じ様な、適当なフレクシャー構材を使用して、板の所定コンプライアンス力、ピッチ、板の引離し力をもたらすことができる。そのような場合なら、付勢手段130の必要性は減じる。表１は、第３Ａ、３Ｂ図の器機110に従って構成したアジマス補正器によって、連結構材122の傾きの初期値を、第３Ｄ図のように鉛直方向から63度に設定して、例示としての性能テストである。ただし、器機110を、従来のRCC器と繋いで使ってある。ここで、ｘは、ある一回目の方向に測った、楔の挿入軸と孔の中心軸との、横方向の相対的なずれである。ｙは、一回目の方向に対し垂直な二回目の方向に測った、楔の挿入軸と孔の中心軸との、相対的な横方向のずれである。 θは、楔の挿入軸と孔の中心軸を含む第一の平面内における、両軸の相対的なずれ角度である。 φは、楔の挿入軸と孔の中心軸を含み、第１平面に対し垂直な第２平面において、両軸の相対的なずれ角度である。 ψは、楔と孔のアジマス角の相対的なずれ角度である。表１によって、器材11 0は、２度から４度の範囲の相対的なアジマス角のずれがあっても、楔をはめ孔へうまく挿入させることがわかる。しかし、この装置は、連結構材122の形態が、第３Ｃ図に示したように鉛直方向から約26度の角度で傾いているのなら、アジマス角のずれの規模がもっと小さくても、もっと大きくて20度ぐらいにまでなっても、その角度を補正する。アジマス角補正器を、剪断力対応手段144（剪断力ばね、剪断力パッドなど）を使った第７Ａ，７Ｂ図の器材510に従って構成し、ばねの傾きの初期値が、鉛直方向から約63度であるような条件にすると、４度までのアジマス角（ψ）のずれに対しては、有効に補正を行う。無論、それより大きな角度のアジマス補正でも、鉛直方向に対する剪断力バネの傾きを大きくすれば、出来るようになる。さらに、連結構材122や剪断力対応手段144を含んでいる。本文中に開示された全実施例では、連結構材や剪断力対応手段は、右下ではなく左下へ傾斜するように配列され、これは、アジマス角の初期値と反対方向に補正運動をおこすためである。同じく、溝142（第５、６図）も、はじめの方向とは逆方向にアジマス運動の補正がおこることを想定している。本発明を例示説明の目的で詳細に記載したが、その様な詳細説明は、単に上記目的のためだけであって、当業者であれば発明の本質と範囲から外れることなく請求の範囲によって限定された部分を除いて、変更可能であることは理解できるであろう。DETAILED DESCRIPTION OF THE INVENTION Assembling apparatus for line-symmetric and non-line-symmetric rigid bodies. Field of the invention The present invention relates to an assembling apparatus, and more particularly to an apparatus for mechanically inserting a line-symmetric or non-line-symmetric rigid body into a workpiece such as a semi-finished product or a product. Description of the prior art Conventionally, in an assembly operation including a step of inserting a rigid body into a semi-finished product or a product by a machine or a robot, there has been a problem that the positions of members to be fitted are hidden by the shapes of the fitted members and become uncertain. For example, if the direction of the force applied to the mating members was improper, the members jam together and could not move until the direction of the force was corrected. If the size of the assembly machine or the size of the parts is incorrect due to lack of accuracy, the parts become wedges and cannot be moved until the parts are separated and the assembly process is repeated (the drawer of the study is caught). Everyday experience is a common example of a wedge). Most of the assembling work can be explained by this simple "hole insertion hook" mechanism and its modification. Some of the methods currently used to reliably perform mechanical assembly work include loose play, large chamfers, vibration to increase the probability that parts will fit together, and high performance. Using force sensors and actuators in the above, it is possible to forcefully adjust the position and speed of members, and to use passive compliance. In particular, the reason why the passive compliance device has been successful in practical use is that it is economical in terms of both complexity and cost when it is viewed as an assembly equipment. In addition, various work to make it easier to fit the members (for example, making a large amount of play and chamfering) may sacrifice the appearance, function and performance at the cost of easy assembly. The use of compliance reduces the need to incorporate such work into the inserted member and the inserted work place. For example, the remote center compliance (RCC) equipment disclosed in U.S. Pat. No. 4,980,001 is chamfered and has line symmetry when the fit tolerance is very small or negative (ie, conflicting). This is effective for assembling members. The RCC device works according to the force of fitting the member during assembly, and adjusts the member to a more straight arrangement. The essence of the mechanism lies in the connection and / or the spring, which is compliant about the tip of the member to be inserted or around a point in space approximately near the edge of the hole that receives the member. Other mechanisms have the effect of compliance only further away from the point of initial contact between the component and the product. In that case, the forces and moments produced by the contact often cause the member to deviate from the ideal centerline of insertion. The adjustable RCC disclosed in U.S. Pat. No. 4,477,975 improves upon the RCC device of U.S. Pat. No. 4,908,001 to position the center of compliance with respect to a member on or slightly lateral to the centerline of insertion. It can be adjusted. The drawback of the RCC to date is that its connections and springs are primarily for forces and torques acting on an imaginary plane containing the RCC's common central axis or centerline. That is, although the RCC deals with the force generated when the member is inserted during insertion, which is on the same plane as the centerline of the RCC as seen from the side of the device or as seen from the "plan view", the RCC deals with it. As you can see from the "plan view" of the vessel, it does not deal with twisting or turning forces. Stated differently, when viewed in an oblique plan view, a typical RCC responds to the forces exerted on the chamfered portion of the member, contrary to the pivoting movements required for proper insertion. Furthermore, for a force or torque acting on a plane containing the centerline of the RCC, the RCC produces a corrective motion only on its respective plane. This point is also due to the fact that the RCC of US Pat. No. 4,980,001 clarifies that a torque prevention measure is required to prevent turning around the center line of the working structural member or member to be inserted into the work piece. I understand. Therefore, such an RCC is not a problem when the shape of the wedge and the hole is axisymmetric (circular), but when the cross section of the member is not circular (axisymmetric), the insertion axis (the insertion axis is effectively the RCC) is used. Often coincides with the centerline of)) should not be misaligned. It is extremely difficult, if not impossible, to eliminate the misalignment of the insertion axis of a non-axisymmetric member. Therefore, in the existing RCC, for example, a square wedge is fitted into a square hole. In many cases, the insertion of the axisymmetric member was not successful. Therefore, even in a situation in which the positioning of the insertion axis of the member can be misaligned, a device that can insert both the line-symmetric member and the non-line-symmetric member into the respective shaped holes is advantageous. Summary of the Invention The present invention solves the problem of non-axisymmetric member insertion by a passive azimuth angle corrector. It corresponds to the component of the force generated when trying to fit the member at the time of insertion in the direction of the force in the same direction as the insertion axis or roughly parallel to this, and to the component of the force trying to fit the member. And apply sideways corrective movements and forces that act vertically. This lateral movement or force subsequently causes a corrective rotation or corrective torque about the insertion axis. Speaking only of movement, when an acting member, such as a wedge as directed by the present invention, contacts the object to be inserted and moves up and down relative to it, it causes a twist about the insertion axis. To respond. That is, the movement of the wedge describes a right-handed or left-handed screw or spiral. From the point of view of force alone, when the members contact each other or the relative position moves up and down, a torque is generated in the wedge to respond. So the wedge behaves like a clockwise or counterclockwise gyroscope. Regarding the rotation, a desirable range of the pitch of the spiral motion and the ratio with the gyroscope relationship will be described later. The features of the structure common to all the embodiments of the present invention are as follows: First, the first structural member to which a conventional RCC-attached assembler is normally connected, and the work piece to be assembled are formed. A second construction material connected to an operator means such as an object to be inserted into the formed hole, and a connection means connecting the first construction material and the second construction material. When connecting the working means to the work piece to be assembled, the connecting means interlocks with the first construction material so that the second construction material and the working means move around the center line (or the member insertion axis) of the assembler. , To generate a torque that rotates in one or more angles and directions. Various desirable configurations of the device of the present invention connecting these components will be described in more detail below. An important feature of the present invention is that the corrective twist or torque about the insertion axis is predetermined. Since there are no active elements, the initial rotation detection (whether clockwise or counterclockwise) is determined by the initial geometry of the equipment used, not by the contact status of the mating members. In order to ensure that the initial angle deviation from the insertion axis is small by the first correction operation, the member must be deliberately inserted with a slight angle deviation from the originally intended direction. Ideally, this angle shift is set equal to the maximum value that can be considered as an angle deviation. In other words, for example, if it is known that the wedge arrangement is out of alignment by up to plus or minus one degree due to insufficient precision of the member dimensions or the precision of the assembly machine, between the member and the object to which it is fitted. Then, the azimuth angle must be offset by 1 degree from the beginning in the direction opposite to the movement of the corrector. Then, even if it is accidentally inserted, the correction motion is always positive or zero. If the initial deviation is larger than this, unnecessary extra movement is performed. If the initial deviation is smaller than this, the correction movement is in the wrong direction, and the assembly work may fail, but it is easy to start over. Further, an embodiment of the present invention is shown in which the members need not be initially displaced. Other details, objects and advantages of the present invention will become apparent from the following preferred embodiments and a description of how to use the invention. Brief description of the drawings The invention will be more apparent from the following description of a preferred embodiment of the drawings, which is attached by way of illustration only. FIG. 1 is a sectional view of a conventional remote center compliance (RCC) device for inserting an axisymmetric member into a work piece as viewed from the front. FIG. 2 shows a component of a force for fitting a member in a specific direction when a line-symmetric member is inserted in an improper arrangement with respect to a work piece, and such improper arrangement. It is the sketch which showed the correction force by the apparatus of this invention when it occurs. FIG. 3A is a schematic diagram showing a first preferred embodiment, which is an azimuth angle correcting device constructed according to the present invention. FIG. 3B is a side view of the device shown in FIG. 3A connected to an assembler. FIG. 3C is an enlarged view of the shape of the azimuth angle correction device of FIG. FIG. 3D is an enlarged view of another initial stage shape of the connecting portion of the azimuth angle correcting device of FIG. 3A. FIG. 4A is a sketch of a more preferred embodiment of an azimuth angle correction device constructed in accordance with the present invention. FIG. 4B is a side view of the azimuth angle correction device of FIG. 4A in actual operation (a part of the device is omitted for clarity). FIG. 4C is a view similar to FIG. 4B and shows another embodiment of the azimuth angle correction device of FIG. 4A. FIG. 5 is a front sectional view of an azimuth angle compensator constructed in accordance with the present invention with a more preferred embodiment coupled to an assembler. FIG. 6 is a front sectional view of an azimuth angle compensator constructed in accordance with the present invention with a more preferred embodiment coupled to an assembler. FIG. 7A is a view of a part of the azimuth angle correction device constructed according to the present invention as seen from below. FIG. 7B is a side view of the assembled azimuth angle correction device shown in FIG. 7A (a part of the device is omitted for clarity). FIG. 7C is a view similar to FIG. 7B and shows another embodiment of the azimuth angle correction device of FIG. 7A. FIG. 7D is a view similar to FIGS. 7B and 7C, and shows another embodiment of the azimuth angle correction device of FIG. 7A. Detailed description of examples FIG. 1 shows a typical structure of a remote center compliance (RCC) system known to engineers. In fact, the RCC system of FIG. 1 is typical of the instrument advanced in US Pat. No. 4,980,001. As with other known RCC devices, the system 10 of FIG. 1 sets a single point of compliance, which is a point of space and a remote center point around it. There is also a place where the translational movement begins. The location of this remote center point can also be set inside the RCC itself, its working structure, inside the members carried by the working structure, or outside the RCC. The remote center compliance system 10 includes means 12 for causing a rotational movement and means 14 for causing a translational movement. The working structure 16 extends from the rotational movement means 12, the rotational movement means 12 and the translational movement means 14 are connected and extend from the part 18 of the assembly machine to which the system 10 is joined. It will be appreciated that the working structure 16 may be the part that is actually inserted into the work piece. Further, the working structural member 16 may be a member such as a robot hand, a mechanical grip, a claw, or a clamp that mechanically manipulates and inserts a member or determines the orientation by a mechanism. The rotary movement means comprises a plate 20 part and a ring 22 part, which are connected relatively rotatably by parts such as flexures 24, 26, 28. The flexures 24, 26, 28 include a main moving part and a pair of recesses 30, 32; 34, 36; 38, 40 formed at appropriate positions in the vicinity of the connecting plates 20, 22, respectively. Are strengthened at these recesses. Radius 42, 44 (not shown), 46 extend radially from a center 50, which is a point away from the system, and flexures 24, 26, 28 extend on these lines. There is also a center 50 at a position above, near, or away from the free end point 52 of the working structure 16 (or the member used for insertion). The means 14 for inducing a translational movement are a portion such as the lip 54 integral with the cylindrical wall 55 of the machine 18 and another portion formed by the plate 22, and the other construction material is a translational movement. It is a member of both the mechanism and the rotary motion mechanism. The means 14 for inducing the translational movement include the flexures 56 and 58 (not visible as a shade of the flexure 26 in FIG. 1) and the flexure 60 between the plate 22 and the lip portion 54. There are recesses 62 and 64, 66 and 68, 70 and 72, as well as the recesses formed in connection with flexures 24, 26 and 28. As will be explained below, the translational force acting on the end point 52 of the working structure 16 causes a relative translational movement between the plates 20 and 22 by the flexures 56, 58, 60, while about the end point 52. Torque causes relative rotational movement between plates 20 and 22 by flexures 24, 26, 28. During operation, the system moves with the mechanical part 18 along the insertion axis I direction. This axis also substantially coincides with the centerline of the working structure 16 and the centerline of the assembler, which connects and extends the centers of the plates 20 and 22. As a result of this movement, the working component moves towards and enters the hole 71 on the work piece 73. The acting structural material has an insertion force F _I On the other hand, a force that tries to hinder the insertion, that is, M, is applied from the chamfered portion 75 to the working structure end point 52 while receiving the force. The position can be finely adjusted by means of the rotary movement 12 and of the translation movement 14. In the figure, the force M due to contact is decomposed into components and displayed, and the vertical component when contact occurs is Mv and the horizontal component is M. _H In the text. M _H Determines the degree of translational movement of the working structural member 16 by operating the means 12 for causing translational movement. On the other hand, M _H And Mv are multiplied by the distance generated from each center 50 and the relative moments of the plates 20 and 22 (and therefore the acting structural member 16) with respect to the center 50 by the means 12 for causing the rotational movement. Determine the direction of rotation R. As mentioned earlier, RCCs of the type just described are useful for inserting line-symmetrical (circular) objects into those with holes of similar shape and size. However, this device is designed so that, for example, when an object having a polygonal shape, an elliptical shape, or a flexible object is fitted and inserted into the hole, the azimuth angle may be misaligned between the object and the insertion hole. In some cases, stable insertion cannot be performed. The problems that occur in such a situation will be discussed below with reference to FIG. 2 in order to examine them deeper by means of diagrams. FIG. 2 is a general cubic prism, and depicts a non-axisymmetric object O having a bottom surface B, a top surface T, and four walls W, which is made so as to fit the hole 71 on the workpiece 73. It is a thing. To facilitate insertion of the object O into the hole 71, the entire edge of the hole 71 is chamfered 75. As shown, the object O is offset from the hole 71 by an azimuth angle ψ about its centerline or the insertion axis I. Therefore, when trying to insert the object O into the hole 71, the corner of the bottom surface B hits the chamfer 75, and at each location, a force M that impedes or advances the insertion is applied to the object O from the chamfer 75 (only the vertical component is displayed. ). With the conventional RCC, the non-axisymmetric object O may be stuck while being obstructed by the chamfer 75 in this manner, so that the compliance with any virtual plane including the translational and / or insertion axis I. A remote center of compliance (not shown) should be rotated to allow the RCC to compensate. For example, if the chamfer 75 has a steep slope, low friction, and a relatively low RCC drag force in the torsional rotation direction, the work piece 73 may be properly positioned due to the horizontal component of the force upon contact or insertion. Absent. However, if the drag force in the direction of twist rotation is large, or otherwise ψ is too large for chamfering and the work piece hits the upper surface of 73, the insertion will fail. However, as indicated by C in the figure, if a corrective force of an appropriate magnitude is provided around the insertion axis and perpendicular to the insertion axis, the misalignment of the azimuth angle can be effectively corrected. Let's do it. In that way, all remaining positioning problems are solved by corrective translation caused by RCC in a suitable virtual plane containing the intrinsic rotation and / or insertion axis I, and the object O 'Is properly inserted. The present invention solves the problem of inserting a non-axisymmetric object by illustrating in FIG. 2 a simplified structure and function of the azimuth angle corrector. Can be used in combination. That is, in the present invention, when a non-axisymmetric object has an azimuth angle displaced with respect to the workpiece to be inserted, a force is generated around the insertion axis (and from a direction perpendicular to a virtual plane including the axis). Although several simple embodiments with simplified configurations have been shown for devices that produce a correction force, they are illustrative and not limiting. In this regard, shown in FIGS. 3A and 3B is a first preferred embodiment of an azimuth angle corrector constructed in accordance with the present invention and designated by reference numeral 110. As will be better understood from the description below, the azimuth corrector 110 is a variable pitch azimuth corrector. The passive azimuth angle corrector of FIGS. 3A and 3B is a purely mechanical device, as is all other embodiments of the invention. Further, the embodiments disclosed in the present text share the following characteristics in the configuration. (1) The first construction material that is connected to the assembler. (2) A second construction material that is usually connected to the working means through a conventional remote center compliance (RCC) device. The acting means includes an object to be inserted into the fitting hole on the work piece to be assembled, and the center line of the assembler is substantially coincident with the inserting axis of the acting means. (3) When the action means is brought into contact with the work piece to be assembled, the second structural member and the working portion accordingly, are relative to the first structural member at one or more angles and directions. , A means of connecting the first and second structural members so that they rotate around the center line. In the device 110 shown in FIGS. 3A and 3B, the first structural member 112 and the second structural member 114 can be influenced by the connecting means, and the connecting means will be collectively referred to as 116 in more detail below. explain. According to this embodiment, the first and second structural members, 112 and 114 are regular polygonal plates (squares, etc.), and for convenience of explanation, these are referred to as an upper plate 112 and a lower plate 114 in this text. To do. The connecting means 116 partially includes the shaft core 118. A line passing through the centers of the upper and lower plates 112 and 114 preferably overlaps the axis 118. The lower plate 114 is fixed to the shaft core 118, and the upper plate is attached so as to be rotatable around the shaft core. If possible, it is desirable to always keep the plates 112 and 114 parallel by some means such as long bearing means 120. The bearing means 120 may be integral with the upper plate 112 or may be a separate member attached to the upper plate, and surrounds the shaft core 118 exactly, and is constituted by a long bush or collar. It is further desirable that the connecting portion 116 includes a guiding means by a plurality of connecting structural members 122, as shown in the configuration of FIGS. , The other end is attached to the corresponding point on the bottom plate 114. The connecting members 122 have substantially the same length, and if possible, a substantially universal joint means 124 that allows the spherical bearing, the ball socket type joint and other connecting members to freely rotate in any direction. , Attached to plates 112 and 114. The connecting members for connecting the plates 112 and 114 are attached to the corresponding points on the equidistant r from the central axis A of the shaft 118 and the plates 112 and 114 (FIG. 3B). In the preferred configuration of the present application, the connecting member 122 has been shown to be attached to the vertices of the upper and lower plates 112 and 114 by joint means 124, but the connecting member 122 may be equidistant from the central axis of the shaft 118. For example, it can be seen that the plates 112 and 114 can be attached at any of the corresponding points facing each other. By virtue of the connecting structure 122 and the joint means 124, the lower plate 114 works in conjunction with the upper plate 112 to produce a spiral movement of varying pitch. Also, if there is even one such connection, this motion can be performed, but in practice, as described above, several connecting members are used and the movement around the central axis A of the shaft core 118 is reduced. It is common to share power equally. In the preferred configuration of the present application, the first component or top plate 112 may be attached to any fixed component 118 of the assembly machine by any means. An annular spacer means 125 is preferably provided between the top plate and the assembly machine to absorb axial runout of the shaft 118 during operation. As will be described in detail later, a conventional RCC unit 126 (shown by a broken line in FIG. 3) may be installed between the azimuth angle corrector 110 and the working structural member 128 described below. Otherwise, the RCC unit 126 may be installed between the azimuth angle corrector 110 and the assembly machine. That is, it will be understood that the meaning implied by the term "assembler" includes both simple assemblers and assemblers that incorporate RCC, such as RCC126. The second structural member or lower plate 114 is connected to the RCC device 126, which is in turn connected to the working structural member 128. Like the working structural member 16 described in the RCC 10 of FIG. 1, the working structural member 128 may be an object that is actually inserted into the fitting hole of the workpiece to be assembled, or may be a robot hand or a machine. It may have a shape for operating an object to be inserted, such as a grip, a claw, or a clamp. However, in any case, for convenience of explanation, the 128 parts will be collectively referred to simply as "working components". The connecting means 116 further includes a biasing means 130. The urging means 130 may be a compression spring, a torsion spring, or the like that applies a force to at least one of the upper and lower plates 112 and 114 to maintain the plate spacing. In the preferred configuration of the present application, as the biasing means 130, a compression spring is arranged concentrically around the shaft core 118. One end of the spring 130 is attached to the lower surface of the first structural member 112 and the other end is attached to the upper surface of the second structural member 114, or, as shown in FIG. 3B, the first support portion 132 on the shaft core 118. Attach to. The axial force exerted by the spring 130 regulates the force exerted on the insertion axis I of the working structure during the work piece assembly operation. Further, due to the reaction, a force acts from the connecting structural member 122 through the joint means 124 around the insertion axis I in a direction perpendicular to an imaginary plane including the insertion axis. Therefore, when the end of the working structural member hits the work piece into which it is inserted, the working structural member 128 rotates around the insertion axis I, while the second structural member 114 and the RCC device 126 move the shaft core 118. Rotate around the central axis A (preferably, the insertion axis I and the central axis A of the shaft 118 should coincide). The ideal value of the force of the biasing means is determined according to the force exerted by the assembler, and must be a value that sufficiently prevents the components of each force of the azimuth angle corrector 110 from swinging during the work. If possible, it is desirable to make the tangential force of the biasing means as small as possible so as not to interfere with the torque canceling effect. Viewed in this way, the biasing means 130 is preferably a compression spring, and the first support 132 is preferably an anti-friction thrust bearing or the like. Furthermore, in order to prevent the upper plate and the lower plate from being separated from each other too much, in the device 110, it is desirable to attach another second supporting portion to the upper end of the shaft 118. The rotation of the second structural member 114 around the central axis A of the shaft 118 is substantially parallel to the plane of the leading or distal end of the working structural member 128. For convenience of explanation, in the text, this rotational motion is expressed by using the term "azimuth angular motion" or simply "azimuth angular motion". Further, the movement of the second structural member 114 in the linear direction along the axis 118 is often referred to as “axial movement”. In addition, since the device of the present invention exclusively corrects the azimuth, that is, the deviation of the arrangement angle with respect to the insertion axis I, in the mechanical assembly work, when the deviation of the azimuth angle is expected, the RCC126 is used. For example, it will often be used in connection with a conventional or centrally movable RCC. In this regard, FIG. 3B shows a remote center point 135 of compliance with RCC 126. As already mentioned, the position of the compliance remote center point 135 may be at the tip of the working structure 128 (as shown) or, in fact, at any point on the entire line of the insertion axis I. As described above, the lower plate 114 interlocks with the upper plate 112 to perform a pitch-variable spiral movement, and it is the configuration or orientation of one of the plates in the initial state of the other that determines this. . One example of such an initial plate shape is shown in FIG. 3C. More specifically, the plate-shaped initial state is illustrated assuming that one connecting structural member 122 (others are omitted for clarity of illustration) is inclined by about 26 degrees from the vertical direction. It will be appreciated that the other connecting members are also tilted at the same angle. Insertion force F _I When a small axial movement of the displacement Δz occurs to try to align both plates in accordance with the above, the lower end of the connecting structural member moves to the right about twice as much, which is due to the vertical distance between the joint means 124. This is because "s" is about twice the horizontal distance "b". Further, when the moving angle of the lower plate 114 or the azimuth movement is Δψ radian, this can be obtained by dividing the lateral shift by the radius r (see FIG. 3B). Similarly, FIG. 3D also shows the initial state of the plate shape when the connecting structural member 122 is inclined about 63 degrees from the vertical direction. In this case, when a small axial movement of displacement Δz occurs to try to align both plates, the lower end of the connecting structural member 122 moves to the right by about half of that, which means that in this case, b is about s This is because it is twice as large. That is, the amount of change Δ ψ in the azimuth angle is roughly proportional to the value obtained by dividing the vertical component s of the distance between the joint means 124 in the initial state by the horizontal distance b. In other words, an azimuth movement occurs when a force for inserting is applied. Generally, the pitch is determined by dividing the displacement of the axial movement by the change amount. However, since the change in the angle (azimuth) is actually small, the pitch is determined in the initial state in practical use. And the pitch is roughly equal to r multiplied by s and divided by b. The shape of the connection in the initial state shown in FIG. 3D has a limited degree of azimuth movement as compared with FIG. 3C, but can withstand a considerable insertion force, and such force is good. It can also find practical application in heavy-duty assembly work. On the other hand, the pitch can be changed by changing the lengths of the connecting structural members 122 while keeping the lengths uniform, but it is relatively difficult to do this practically. One of the things that can be dealt with thanks to the adjustable pitch compensator is that the amount of insertion force actually required to pivot the working structure with respect to the hole in the work piece is determined by the amount of friction in contact. It is possible to be directly affected and easily changed. If the member hits a flat surface (ie, no chamfer), the minimum required pitch value to cause azimuth motion against frictional forces is the product of d and μ. Where d is the distance on the surface from the centerline of the assembler (usually this is the insertion axis) to the contact point, and μ is the coefficient of friction. All of these values are easily obtained by measuring the parts to be assembled. When the object contacts the chamfered work piece, factors related to the inclination of the chamfer are involved, in which case the calculation becomes complicated. From the insertion of the object to the occurrence of the azimuth correction movement, the preload on the device is determined by the degree of action of the biasing means 130. Since the spacing between plates 112 and 114 varies with pitch, the effective preload in this initial state will of course also vary unless the biasing means are independently adjusted with the stop collar. In Figures 4A and 4B, the same reference numbers indicate the same elements as described in connection with Figures 3A-3D (and so on in the following figures). Shown in this is a further preferred embodiment of the present invention, which is a functional extension of device 110. The azimuth corrector indicated by 210 in FIGS. 4A and 4B is, so to speak, a variable pitch reversible azimuth corrector. This is because the device 210 is configured to be able to correct the azimuth angle in both the forward and reverse directions around the insertion axis, which will be described in detail later. For the sake of brevity, the main components of the device 210 will not be described in detail except for the case where there is a difference in structure or function from the components defined in FIGS. 3A to 3D, and the book will be described later. The same applies to other embodiments of the invention. As shown in FIGS. 4A and 4B, the mechanical azimuth compensator 210 also has a regular polygonal (square or the like) plate-shaped first structural member 112 and a second structural member 112 in which a line passing through the center overlaps with the axis 118. Consists of construction material 114. The lower plate 114 is fixed to the shaft center, while the shaft center is movable in the axial direction, and the joint with the upper plate 112 is rotatable. The collar-shaped bearing means 120 ensures that the two plates maintain a generally parallel relationship even during work. Like the device 110, the connecting means includes a guiding means constituted by a plurality of inclined equal length link members 122, a substantially universal joint means 124, and a biasing means 130. First and second supports 132 and 134 are also included. Particularly in this embodiment, the connecting means 116 is further provided with a plurality of protrusions or extension fingers 136, to which both ends of the connecting structure 122 are attached by the joint means 124. If possible, the position of the protrusion 136 should be at or near the apex of the plate, the lower plate protrusion should face the upper plate, and the upper plate protrusion should face the lower plate. The connecting members 122 are arranged in parallel to each other, one end of each connecting member is attached to the protrusion 136 corresponding to the apex of the upper plate by the joint means 124, and the other end of each connecting member is the joint member 124. Attach to the protrusion 136 corresponding to the vertex next to one of the lower plates. By thus configuring and arranging, when the working structural member (not shown) is brought into contact with the work piece, the protrusion 136 and the link structural member 122 are initially arranged at a predetermined pitch relative to the lower plate. The direction of rotation is determined. When the connecting member falls horizontally due to the force of insertion, the value of the pitch becomes instantaneously infinite (that is, only the circular movement occurs, not the rotation). While the two plates move toward each other, the inclination of the connecting member is reversed, and the direction of rotation of the lower plate 114 interlocked with the upper plate 112 is also reversed. The advantage of the reversible pitch azimuth corrector 210 is that the direction of rotation of the second component, and thus the relative initial orientation of the mating object and workpiece, need not be predetermined. As a result, even if the correction direction of the azimuth motion in the initial state is improper, the plate 114 on which the work structure and the object are attached returns to its original position, and from that direction, an appropriate azimuth angle position is obtained. It just turns around. During this time, the relative rotational movements of the working structure and the assembly machine are absorbed by the passive axial compliance. Moreover, forces may be exerted between the object and the work piece into which it is inserted. Since it is ideal that there is a strict correlation between the axial movement and the azimuth angle, it is necessary to express the passive compliance that is added later by x, y coordinates on the plane including the point and the insertion axis. Therefore, in this embodiment, it is for these reasons that it is recommended to use a conventional or centrally movable RCC such as RCC 126 (Fig. 3B). FIG. 4C is another embodiment of the reversible pitch azimuth angle corrector 210 shown in FIGS. 4A and 4B. This embodiment, designated by 210 ', is drawn as if it were fully squeezed, similar to the equipment 210 of Figure 4B. Conceptually and functionally, the equipment 210 'is essentially the same as the equipment 210. The main difference is that the connecting structure 122 and the joint means 124 are similar to the flexures 24, 26, 28, 56, 58, 60 previously described in connection with the conventional remote center compliance system 10 of FIG. It only replaces the second class linkages 122 '. However, even in the coupler 122 ', similar to the coupling member 122 and the joint means 124, it also functions to cause a desired azimuth movement, and like the flexures 24, 26, 28, 56, 58, 60, such movements are performed. I will not go against. Another preferred embodiment of the azimuth corrector of the present invention, and another, is shown generally at 310 in FIG. Although the configuration is obviously different, the equipment 310 (this equipment may be a fixed pitch type azimuth corrector) has many similarities and common points with the embodiment of the present invention described in FIGS. 3A to 3D. In this regard, FIG. 5 shows a mechanical device comprising a first structural member (upper plate) 112 and a second structural member (lower plate) 114. As will be described later, according to the working mode of the equipment 310, the shapes of the plates 112, 114 do not really make much sense and can be circles, ellipses or polygons, any mundane shape. The plates 112 and 114 share their respective central axes with a central circular axis 118 and a cylinder 138 that closely surrounds it. The cylinder 138 is fixed to the plate 112, and the axis 118, which is movable in the cylinder 138 in both the axial direction and the rotation direction, is fixed to the plate 114. The longer bearing 120, which is also where the cylinder 138 contacts the central axis 118, keeps the plates 112 and 114 parallel to each other at all times. The equipment 310 includes connecting means 116 which connect the plates 112 and 114 and which act when the working component is brought into contact with a work piece (not shown) to be inserted inside. Allowing the structural member 128 to twist about the insertion axis I, i.e. the function of the connecting means 116 is essentially the same as the function of the corresponding member already mentioned. However, in the present embodiment, the connecting means 116 comprises, outside the central axis 118, a guide consisting of one or more, preferably a plurality of bosses 140, which bosses fit in the spiral groove 142 in the central cylinder 138. Fit in. The pitch produced by the movement of the boss 140 in the groove 142 is equal to the movement of the axial component divided by the current angle or azimuth movement, and is also given by the tangent of the angle of the helix. Alternatively, even if a boss facing the center is provided on the inner wall of the cylinder 138 and the boss is fitted in the spiral groove of the shaft core 118, the connection portion can be similarly configured. In either case, the spiral groove must fit snugly on its boss to prevent rattling and play between the shaft 118 and the cylinder 138, which is due to rattling. This is because the relative positions of the assembled members gradually become unstable. Of course, it is possible to form the spiral groove at a variable pitch, but it is difficult to do the same as trying to change the length of the connecting member 122 of the azimuth compensator 110 shown in FIGS. 3A to 3D while keeping the same length. Considering the cost, it does not seem to be suitable for practical use in general. As with all the embodiments described so far, the connecting means of the device 310 includes a biasing means 130, such as a compression spring. The biasing means serves to separate the plates and to create the reaction force necessary to cause the azimuth correction motion about the insertion axis I when the working structure is brought into contact with the work piece. Is. To limit the plate from moving too much, although not shown, a stopper may be mounted on the shaft core or fitted on the end of the shaft core, and the spiral groove 142 of the cylinder 138 may also be a plate. Restrict the movement of. A great advantage of the fixed pitch compensator 310 is that it can be manufactured compactly with a smaller number of members than, for example, the above-described equipments 110 and 210. Moreover, if the force required to twist the working material against the hole to be inserted is found experimentally and its value does not vary from application to application, this example of experiment should be considered. is there. Moreover, as in the other embodiments of the present invention, the initial force before the azimuth correction movement starts is directly determined by the compression degree of the spring 130. Since the initial value of the distance between the plates 112 and 114 is fixed by the boss 142 and the groove 140, the effect of preload is also constant unless a spring is independently adjusted by a stop collar (not shown). Furthermore, this equipment (as well as other equipment disclosed in the text) corrects only the deviation of the azimuth angle, so if the position and angle deviation in the vertical direction is expected during the assembly work, It is recommended to use it by connecting to the centrally movable RCC126. In addition, an advantage of device 310 is that the mechanism is compact and can be easily manufactured to fit the central opening of a conventional RCC device. Another of the preferred embodiments of the present invention is shown in FIG. 6 and many of its features are the same as those of the azimuth corrector 310 described above. Therefore, only those features that are particularly different from the device 310 will be described in detail. The azimuth corrector 410 in FIG. 6 is a fixed pitch reversible azimuth corrector. The first and second structural members 112 and 114 and the connecting portion 116 that compose this equipment are also used in the equipment 310, and are generally the same. However, in this embodiment only, by providing a substantially sinusoidal or S-shaped groove 142 'in the central cylinder 138 and attaching one or more, preferably a plurality of bosses 140', and fitting into the groove, The movement of the central axis 118 follows a substantially sine curve or S-shaped path. The pitch of this approximately sine curve or S-shaped path is equal to the displacement of the axial component divided by the movement of the angle (azimuth) at that time, and the tangent of the groove angle at the corresponding point on the groove 142 '. Depends on the value of. The main advantages of the fixed pitch reversible azimuth corrector 410 are similar to those of the variable pitch reversible azimuth corrector 210 of FIGS. 4A and 4B. In other words, it is not necessary to preliminarily bias the direction of rotation of the working structural member 128 about the insertion axis I and the initial direction of the mating members (object and workpiece) with respect to each other. The feature of this application is that unlike the azimuth compensator 210, the equipment 410 can be manufactured compactly with a smaller number of members, and even if the azimuth angle correction in the initial state is inappropriate, it can be attached to the member to be inserted. The plate (ie, bottom plate 114) first rotates in one direction and then returns in its opposite orientation back to its original position, from which it continues, perhaps at a different rate, in its initial direction. However, in the meantime, as was the equipment 210, forces can also be created between the parts to be assembled. Therefore, as already mentioned, it is ideal that there is a strict correlation between the axial motion and the azimuth angle, so that the passive compliance that is added later can be measured by x, y in the plane including the point and the insertion axis. , Z coordinate. For this reason, it is advisable to use a conventional or centrally moveable RCC 126, as shown, in connection with this embodiment. 7A and 7B are yet another of the presently preferred embodiments of the azimuth corrector according to the present invention. The equipment represented by 510 may be named Fixed Pitch Compliance Connected Azimuth Corrector. The device 510 includes a first structural member 112 and a second structural member 114, and a straight line passing through the centers of them overlaps with the central axis 118. The first structural member (or upper plate) 112 absorbs the movement of the shaft center in the axial direction and the rotation direction. On the other hand, the second structural member (or lower plate) 114 is fixed to the shaft core. The first and second structural members 112 and 114 may have any geometric shape in this case as well, but in the present embodiment, a circular shape (as shown) is preferable in order to reduce the volume. And, in order to keep both plates parallel during the operation of the equipment, it is also desirable to mount the collar bearing means 120. In this embodiment, the connecting portion 116 includes a shear force responding means. In a preferred arrangement, the shear force response means comprises one or more, and preferably a plurality of shear force springs 144, the longitudinal axis L of which extends substantially perpendicularly to the central axis A of the shaft 118 at a distance r. (FIG. 7A). Anchor structures 146 that attach the ends of each shear spring 144 also form part of the connecting means 116. In a preferred configuration, the anchoring structure projects downwardly from the upper plate 112 and upwardly from the lower plate 114 and has a beveled surface 148 to substantially parallel the opposite ends of the shear spring during operation. Keep on. Each shear spring 144 has an inclination with respect to the vertical line and is arranged around the central axis A in the same manner as the connecting member 122 of the device 110 disclosed in FIGS. 3A-3D. The shear spring used in the present proposal causes the lower plate 114 to move in a generally spiral path by causing a compliance movement perpendicular to the longitudinal axis L of the spring and resisting movement in the axial direction of the spring. Such springs are well known in the art and are manufactured, for example, by Lord Corporation of Erie, PA. A spiral wound spring, such as that used in conventional RCC devices, disclosed in U.S. Pat. No. 4,848,757, functions in virtually the same way as the shear force spring 144 and can be used as a satisfactory alternative. Further, any shear force response means capable of effectively resisting the movement of the spring on the longitudinal axis L by exerting a lateral movement (illustrated in FIGS. 7C and 7D), a shear force spring. Can be used instead of 144. In this embodiment, the pitch of the spiral movement is determined by the angle of attachment of the shear spring 144 to the two plates 112 and 114. Similar to the shape in the initial state shown in FIG. 3D, the inclination of the shear force spring 144 from the vertical direction is predetermined to be about 63 degrees, and the initial shape is shown. Letting Δz be the displacement of a minute movement in the direction in which both plates are aligned, the lower end of the spring moves to the right by half the distance of Δz. This is because the end faces of each shear force spring are roughly parallel. It is because it is kept at. The amount of change in the angle (azimuth) of the plate 114 is roughly proportional to the vertical component s of the spring spacing, divided by the horizontal component distance or the bottom length b. The pitch is then an approximation of r times b divided by d. Compared to the other embodiments already described, the shear spring 144 has various functions such as deflecting the plates to each other, knowing the strength of the compliance force in advance, and determining the pitch to guide the motion of the plate 114. Also has. Preferably, the shear spring 144 is provided with a stop (not shown) at the end of the mandrel 118 to limit movement so that it does not move too much. Thanks to the compensator, such as the device 510, which has a compliant connection, the compensator can be manufactured in a very compact manner and with a small number of members. When the experimental value of the magnitude of the force required to rotate the member with respect to the insertion hole is known, or when the preload or ratio of compliance is fixed and does not change between different application examples, Attention should be paid to this example. Since the equipment 510 also corrects only the deviation of the azimuth angle like the other ones already mentioned, if the mechanical insertion work is expected to shift the position and angle in the vertical direction, it will be the conventional type. It is recommended to use it by connecting it to the centrally movable RCC. The compact geometry of this embodiment is easy to make to fit the central opening of a conventional RCC. By combining two equipments, whether it is two-dimensional (axisymmetric) or three-dimensional (non-axisymmetric) work, it will be extremely compact as an assembly tool that meets the needs of the work. 7C and 7D show another embodiment of the azimuth angle compensator 510 having fixed pitch compliance in the connecting portion, which are represented by numbers 510 'and 510 ", respectively. Also 510 'and 510 "are essentially the same as 510. However, the device 510 'of FIG. 7C uses a helical spring 144' in place of the shear spring 144. Similarly, the equipment 510 "of Figure 7D uses a leaf spring 144" for the same purpose. In both cases, the helical spring 144 'and the leaf spring 144 "are biased to be pulled apart similarly to the shear force spring 144 so that the compliance force can be known in advance, the pitch is determined, and the leaf movement is guided. Further, in all the examples of the azimuth compensator, the connecting member 122 and the joint means 124 are used, but instead of such connecting member and joint means, the second member shown in FIG. 4C is used. Using a suitable flexure construction material, such as the class connection material 122 ', the shear spring 144, the helical spring 144', and the leaf spring 144 "of Figures 7A-7D, the desired compliance force of the board, Pitch, plate separation force can be provided. In such cases, the need for biasing means 130 is reduced. Table 1 shows that the azimuth corrector configured according to the equipment 110 of FIGS. 3A and 3B sets the initial value of the inclination of the connecting member 122 to 63 degrees from the vertical direction as shown in FIG. It is a performance test. However, the device 110 is used in connection with the conventional RCC device. Here, x is a relative lateral displacement between the insertion axis of the wedge and the central axis of the hole, measured in a certain first direction. y is a relative lateral shift between the insertion axis of the wedge and the central axis of the hole, measured in the second direction perpendicular to the first direction. θ is a relative displacement angle between both axes in the first plane including the insertion axis of the wedge and the central axis of the hole. φ is a relative displacement angle between both axes in the second plane perpendicular to the first plane, including the insertion axis of the wedge and the central axis of the hole. ψ is a relative shift angle between the azimuth angles of the wedge and the hole. It can be seen from Table 1 that the equipment 110 allows the wedge to be successfully inserted into the fitting hole even with relative azimuth angle shifts in the range of 2 to 4 degrees. However, even if the scale of the azimuth angle shift is smaller, this device is more effective if the shape of the connecting member 122 is inclined at an angle of about 26 degrees from the vertical direction as shown in FIG. 3C. Even if it is as large as 20 degrees, the angle is corrected. The azimuth angle compensator is configured according to the equipment 510 of FIGS. 7A and 7B using the shear force response means 144 (shear force spring, shear force pad, etc.), and the initial value of the spring inclination is about 63 degrees from the vertical direction. Under the condition as follows, the deviation of the azimuth angle (ψ) up to 4 degrees is effectively corrected. Of course, azimuth correction with a larger angle can be performed by increasing the inclination of the shear force spring with respect to the vertical direction. Further, it includes a connection structural member 122 and a shear force coping means 144. In all the examples disclosed in this text, the connecting members and the shear force response means are arranged so as to incline to the lower left instead of the lower right, which causes a correction movement in a direction opposite to the initial value of the azimuth angle. This is because. Similarly, it is assumed that the groove 142 (FIGS. 5 and 6) also corrects the azimuth movement in the direction opposite to the initial direction. While the present invention has been described in detail for purposes of illustration, such details are for the purposes of the above and are only limited by the claims without departing from the spirit and scope of the invention. It will be understood that it can be changed except for the parts described.

Claims

[Claims] 1. A product assembly system, The system is Since the object is inserted into the work piece, the centerline is almost aligned with the insertion axis of the object. Assembling equipment we are doing, The assembly device and the assembly for rotating the object about the centerline; An azimuth angle compensator connected to the object for easy work, It consists of and. 2. In the system according to claim 1, the azimuth angle corrector is The first construction material, The second construction material, When using the assembly device to bring the object into contact with the workpiece. , The second construction material and the object around the center line of at least one type Means to connect the first and second structural members to rotate in one direction with an angle It consists of and. 3. The system according to claim 2, wherein the first connecting member and the second connecting member are connected to each other. Is An axis that substantially matches the center line and shares an axis with the first and second structural members The core, The shaft core is fixed to the second structural member, and is axially inside the first structural member in the axial direction. It is held so that it can move and rotate, The first structural member and the second structural member are urged to be spatially separated from each other, and When the object is brought into contact with the work piece by the assembler, the second structure material is used for the first structure. A means to exert a reaction force so that it moves relative to the material It is composed of 4. The system according to claim 3, wherein the urging means is concentric with the shaft core. And at least one of the end points is less than the first and second structural members. Both consist of compression springs butted against one side. 5. The system according to claim 4, wherein the first construction material and the second construction material are connected. The means for receiving the reaction force relative to the second structural member relative to the first structural member. A guiding means for producing an initial pitch in the. 6. The system according to claim 5, wherein the guiding means includes a first end and a second end. One or more connecting structural members having a first end and a first end of the one or more connecting structural members. The first joint hand that can join structural materials and rotate in almost all directions at the joint point. The step and the second end of the one or more connecting structural members and the second structural member are joined and connected. It consists of a second coupling means that can rotate in almost any direction about the point of attachment. 7. The system of claim 6, wherein the first coupling means and the second coupling means The coupling means is arranged such that the one or more of the one or more of the joint means is located at a predetermined distance from the central axis of the shaft core. The first end and the second end of the connecting structure are spliced together. 8. In the system according to claim 7, the first construction material has a plurality of vertices. Consisting of the first plate of a regular polygon, the second construction material has multiple vertices and the shape is first It consists of a second plate of a regular polygon that is almost the same as the construction material, Further, the first and second joint means are the first of the one or more connecting structural members. Join the end and the second end to the first and second plates, respectively, near their vertices. . 9. In the system according to claim 8, the one or more connecting structural members are It is arranged with a predetermined inclination between the first plate and the second plate. Ten. In the system according to claim 9, the one or more connecting structural members are previously It consists of multiple connecting members that are parallel to each other with a certain inclination. 11. In the system according to claim 8, the two plates are provided near the apex of the first plate. A protrusion facing the first plate is provided, and the first plate is placed near the top of the second plate. Provide a protrusion facing the plate of The first and second joint means, the first end of the one or more connecting members, Joined to one of the protrusions of the first plate, the second end of the protrusion of the second plate , Join to the one near the apex next to the corresponding one. 12． In the system according to claim 11, the one or more connecting structural members are It is arranged with a predetermined inclination between the first plate and the second plate. 13. In the system according to claim 12, the one or more connecting structural members are predetermined Are arranged at an inclination of and are composed of a plurality of connecting structural members that are parallel to each other. 14. The system according to claim 5, wherein the first construction material is concentric with the shaft core. Further includes a cylinder fixed to the shaft, and one or more bosses are provided on either the shaft core or the cylinder. And one or more grooves for fitting the boss in the other. 15． The system of claim 14, wherein the one or more grooves are substantially spiral. Is the route. 16. The system of claim 14, wherein the one or more grooves are substantially S-shaped. Is the route. 17． In the system of claim 14, the one or more bosses are multiple And the one or more grooves are composed of a large number of grooves. 18． In the system according to claim 3, the bias is applied. Means counteract movements along the longitudinal axis and allow only lateral movements along the longitudinal axis. In order to have one or more shear force response means, the one or more shear force response means, One end is connected to the first structural material, and the other end is connected to the second structural material. 19. The system of claim 18, wherein the one or more shear force response means is , One or more shear-force-responsive springs. 20. In the system of claim 18, the first construction material and the second construction material are To keep the first and second ends of one or more shear force responders substantially parallel to each other , Including anchoring means. twenty one. 19. The system of claim 18, wherein at least one said shear force is accommodated. The vertical axis of the means is approximately perpendicular to the central axis of the axis at a predetermined distance from the axis. Straightforward. twenty two. 19. The system according to claim 18, wherein the shear force response means is the first A certain degree of inclination is provided between the construction material and the second construction material. twenty three. Claim 23. The system of claim 22, wherein at least one said shear force is accommodated. The means comprises a plurality of shear force response means inclined by a predetermined degree. twenty four. The system according to claim 3, wherein the first structural member and the second structural member are mutually Said first to keep parallel It further includes bearing means attached to the construction material. twenty five. In the system according to claim 3, the first construction material and the second construction material are separated. Further includes a stop means attached to the mandrel to limit movement . 26. The system according to claim 2, wherein the second construction material and the object are connected. It also contains working materials. 27. The system of claim 1, wherein the assembler is co-located with the centerline. Remote Center Comp, which defines both remote center points of compliance A liance (RCC) device, which is located on the plane containing the centerline. Allow rotational and translational motion about the remote center point. 28. Azimuth angle correction for use with an assembler to insert an object into a work piece And in the assembler the centerline of which is the insertion of the object. Almost coincides with the axis of the object The azimuth angle corrector is First construction material, Second construction material, When using the assembler to insert the object into the work piece, The second construction material and the object are arranged around the center line in one or more angles and in one or more angles. In order to rotate in the upward direction, the first structural member and the second structural member Means for connecting materials It has and. 29. In the azimuth compensator defined in claim 28, The means to connect the two components is Almost coincides with the center line and shares an axis with the first and second structural members. The shaft core, The shaft core is fixed to the second structural member, and is axially inside the first structural member in the axial direction. It is supported so that it can move and rotate, While urging the first structural member and the second structural member to be spatially separated from each other, , When the object to be inserted into the work piece is touched by the assembler, And a means for generating a reaction force to move the two structural members relative to the first structural member. I am. 30. In the azimuth corrector defined in claim 29, the biasing means is: Arranged concentrically with the shaft core, and at least one of the end points is the first structural member and the first structural member. A compression spring that is abutted against at least one of the two structural members. 31. In the azimuth compensator defined in claim 30, the first construction material and the The means for connecting the two structural members receives the reaction force and applies the first structural member to the second structural member. The material comprises inductive means for producing a relative initial value of pitch. 32. In the azimuth corrector defined in claim 31, the guiding means is: One or more connecting members having a first end and a second end, and the one or more connecting members The first end and the first structural material are joined together, and the joint can be rotated in almost all directions. The first joint means and the second end of the one or more connecting structural members and the second structural member are joined. And consists of a second joining means that can rotate in almost any direction about the joining point . 33. In the azimuth corrector defined in Claim 32, the first joint means And a second joint means, at a predetermined distance from the central axis of the shaft core, the one or more joint means. Join the first end and the second end of the upper connecting structure, respectively. 34. In the azimuth corrector defined in claim 33, the first component is It consists of the first plate of a regular polygon with multiple vertices, and the second construction material has multiple vertices. Then, it consists of a second plate of a regular polygon whose shape is almost the same as the first construction material, Further, the first and second joint means are connected to the first end of the one or more connecting structural members. The second end is joined to the first and second plates, respectively, near their vertices. 35. In the azimuth compensator defined in claim 34, one or more The structural member extends along a predetermined inclination between the first plate and the second plate. 36. The azimuth corrector specified in claim 35 And the one or more connecting members are arranged parallel to each other and at the predetermined inclination. It consists of multiple connected construction materials. 37. In the azimuth corrector defined in claim 36, the first plate is , A protrusion facing the second plate near the apex, and the second plate Has a projection facing the first plate near the apex, The first and second joint means, the first end of the one or more connecting members, Joined to one of the protrusions of the first plate, the second end of the protrusion of the second plate , Join to the one near the apex next to the corresponding one. 38. In the azimuth corrector defined in claim 37, one or more The structural member is arranged at a predetermined inclination between the first plate and the second plate. 39. In the azimuth corrector defined in claim 38, one or more The binder is a plurality of connecting structural members arranged in parallel with each other and at the predetermined inclination. 40. The azimuth corrector defined in claim 39 is concentric with the axis, A cylinder fixed to the first structural member is further provided, and one or more of the shaft core and the cylinder are provided. A boss is provided, and the other is provided with one or more grooves for fitting the boss. 41. In the azimuth corrector defined in claim 40, the one or more grooves Is a substantially spiral path. 42. In the azimuth corrector defined in claim 40, the one or more grooves Is a substantially S-shaped path. 43. In the azimuth corrector defined in claim 40, the one or more The sleeve comprises a number of bosses, and the one or more grooves comprises a number of grooves. 44. In the azimuth corrector defined in claim 29, the biasing means is: To resist movement along the vertical axis and allow only lateral movement relative to the vertical axis , Having one or more means for coping with shearing force, The one or more shearing force responding means includes the first structural member at one end and the first structural member at the other end. Connect to the second construction material. 45. In the azimuth corrector defined in claim 44, the one or more shear The breaking force response means comprises one or more shearing force response springs. 46. In the azimuth corrector defined in claim 44, the first construction material and the The two structural members are configured such that the one end and the second end of the one or more shearing force responding means are substantially connected to each other. Includes anchor construction to keep parallel. 47. In the azimuth compensator defined in claim 44, the shear force handling The vertical axis of the step is the center of the axis It is substantially perpendicular to the central axis at a predetermined distance from the axis. 48. In the azimuth compensator defined in claim 44, the shear force handling The step is arranged at a predetermined inclination between the first structural member and the second structural member. 49. In the azimuth compensator defined in claim 48, the shear force handling The step consists of a number of parallel shear force responding means arranged at a predetermined inclination. 50. The azimuth corrector defined in claim 29 is further provided with the first construction material and the second construction material. In order to keep the structural members parallel to each other, a bearing means attached to the first structural member is provided. ing. 51. The azimuth corrector defined in claim 29 is further provided with the first construction material and the second construction material. A stopper attached to the shaft core to limit the separation of the structural materials. ing. 52. The azimuth corrector defined in claim 29 is further provided with the second construction material and the It has an action means for connecting objects. 53. In the azimuth compensator defined in claim 29, the assembly machine is A remote that defines both the centerline and the remote center point for compliance It has a center compliance (RCC) device, and the RCC device On the plane containing Allow rotation and translational movement around the moat center point Accept.