JP2008221387A

JP2008221387A - Assembling method and device

Info

Publication number: JP2008221387A
Application number: JP2007062287A
Authority: JP
Inventors: Masakazu Fujii; 正和藤井; Hiroki Murakami; 弘記村上
Original assignee: IHI Corp
Current assignee: IHI Corp
Priority date: 2007-03-12
Filing date: 2007-03-12
Publication date: 2008-09-25
Anticipated expiration: 2027-03-12
Also published as: JP4935437B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide an assembling method and device for completing insertion of a shaft part 102 into a hole in a short time without the necessity of especially improving accuracy of a moving operation of a member and preventing the moving of the shaft part 102 in a pressed state on a hole part 101. <P>SOLUTION: In this assembling method, either one of the hole part 101 or the shaft part 102 is held, a moving operation of either one is performed, and the shaft part 102 is inserted into the hole 103. When a distal end part of the shaft part 102 abuts on a surrounding part of the hole 103 when the shaft part 102 is inserted into the hole 103, translational force of the inserting direction received by the hole part 101 and moment around a shaft orthogonal to the translational force are detected. A calculation based on the detected translational force and moment is performed, and direction and distance from a center of the hole 103 at an abutting position of the distal end part of the shaft part 102 are calculated. By performing the moving operation of either one of the hole part 101 or shaft part 102 according to the calculated direction and distance, the shaft part 102 is inserted into the hole 103. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、孔が設けられた部材（孔部品）の孔に棒状部材（軸部品）を挿入させる組立方法に関し、また、孔が設けられた部材、または、棒状部材のいずれかを把持して移動操作し孔が設けられた部材の孔に棒状部材を挿入させる組立装置に関する。 The present invention relates to an assembling method for inserting a rod-shaped member (shaft component) into a hole of a member (hole component) provided with a hole, and grips either the member provided with a hole or the rod-shaped member. The present invention relates to an assembling apparatus that inserts a rod-like member into a hole of a member that is moved and operated.

従来、棒状部材（軸部品）を把持して移動操作し、この棒状部材を孔が設けられた部材（孔部品）の孔に挿入させる組立装置が提案されている。 2. Description of the Related Art Conventionally, an assembly apparatus has been proposed in which a rod-shaped member (shaft component) is gripped and moved and inserted into a hole of a member (hole component) provided with a hole.

このような組立装置としては、孔が設けられた部材を固定して支持し、この部材の孔の内径と棒状部材の外径との差（孔及び棒状部材間のクリアランス）よりも芯ずれが小さくなるように、棒状部材を高精度に移動操作できるように構成し、この棒状部材を孔に挿入できるようにしたものが提案されている。 In such an assembly apparatus, a member provided with a hole is fixed and supported, and the misalignment is more than the difference between the inner diameter of the hole of this member and the outer diameter of the rod-shaped member (clearance between the hole and the rod-shaped member). It has been proposed that the rod-shaped member can be moved and operated with high accuracy so that the rod-shaped member can be inserted into the hole.

また、このような組立装置として、特許文献１には、ロボットアームによって棒状部材を把持し、この棒状部材を孔が設けられた部材の孔に挿入させようとしたときに、棒状部材の先端が当接して挿入方向に力（反力）を受けたならばランダムに横方向に移動操作し、モーメントを受けたならばモーメントが小さくなる方向に棒状部材の傾きを変更して、再度の挿入動作を行うようにしたピン挿入装置が記載されている。 As such an assembling apparatus, in Patent Document 1, when a rod-like member is gripped by a robot arm and the rod-like member is inserted into a hole of a member provided with a hole, the tip of the rod-like member is If contact is received and a force (reaction force) is applied in the insertion direction, it is randomly moved in the horizontal direction. If a moment is applied, the inclination of the rod-shaped member is changed in a direction that reduces the moment, and the insertion operation is performed again. There is described a pin insertion device adapted to perform the above.

さらに、特許文献２には、棒状部材を把持し、この棒状部材を孔が設けられた部材の孔に挿入させようとしたときに、棒状部材の先端が当接して挿入方向に力（反力）を受けたならば、棒状部材を孔が設けられた部材に押し付けたままで、孔及び棒状部材間のクリアランスを考慮した幅で棒状部材をジグザグに移動操作するようにした組立装置が記載されている。
特開平７−３１４２６４号公報特開２００４−１６７６５１公報 Further, in Patent Document 2, when a rod-shaped member is gripped and the rod-shaped member is to be inserted into a hole of a member provided with a hole, the tip of the rod-shaped member comes into contact with the force (reaction force) in the insertion direction. ), An assembly apparatus is described in which the rod-shaped member is moved in a zigzag manner with a width considering the clearance between the hole and the rod-shaped member while the rod-shaped member is pressed against the member provided with the hole. Yes.
JP-A-7-314264 JP 2004-167651 A

ところで、前述した従来の組立装置においては、芯ずれが孔及び棒状部材間のクリアランスよりも小さくなるように構成したものにおいては、棒状部材の移動操作を極めて高い精度で行う必要があり、特に、精密部品を扱う場合には、クリアランスが極めて小さいため、装置の構成及び使用が困難となる。すなわち、極めて高い精度で部材の把持及び固定を行うことができる冶具や把持手段を用意しなければならず、また、装置の動作について精密な教示が必要となる。このような教示は部材の種類が変わるたびに実施しなければならず、極めて煩雑である。 By the way, in the above-described conventional assembly apparatus, in the case where the misalignment is configured to be smaller than the clearance between the hole and the rod-shaped member, it is necessary to perform the movement operation of the rod-shaped member with extremely high accuracy. When handling precision parts, the clearance is extremely small, making it difficult to configure and use the device. That is, it is necessary to prepare a jig and a gripping means that can grip and fix a member with extremely high accuracy, and it is necessary to provide precise teaching about the operation of the apparatus. Such teaching must be carried out every time the type of member is changed, and is extremely complicated.

また、特許文献１に記載された装置においては、棒状部材が反力を受けたときにランダムに横方向に移動操作するので、この棒状部材の孔への挿入が完了するまでに要する時間を予測することができず、作業時間の短縮による生産性の向上を図ることができない。 Further, in the apparatus described in Patent Document 1, since the rod-shaped member is randomly moved in the horizontal direction when receiving a reaction force, the time required to complete the insertion of the rod-shaped member into the hole is predicted. It is not possible to improve productivity by shortening the working time.

そして、特許文献２に記載された装置においては、棒状部材が反力を受けたときに棒状部材を部材に沿ってジグザグに移動操作する。ここで、この移動操作の一方向（幅）については孔及び棒状部材間のクリアランスを考慮して設定されるが、他方向（進行方向）については、より小さな距離とする必要がある。そのため、棒状部材の孔への挿入が完了するまでに長時間を要する場合がある。また、棒状部材を孔が設けられた部材に押し付けたままで移動させることにより、部材同士の摺接による傷や破損などの不都合が生ずる虞がある。 In the apparatus described in Patent Document 2, when the bar-shaped member receives a reaction force, the bar-shaped member is moved in a zigzag manner along the member. Here, one direction (width) of the moving operation is set in consideration of the clearance between the hole and the rod-shaped member, but the other direction (traveling direction) needs to be a smaller distance. Therefore, it may take a long time to complete the insertion of the rod-shaped member into the hole. Further, when the rod-shaped member is moved while being pressed against the member provided with the hole, there is a possibility that inconveniences such as scratches and breakage due to sliding contact between the members may occur.

そこで、本発明は、前記の実情に鑑みてなされたものであり、その目的は、部材の移動操作の精度を特段に向上させる必要を生ずることなく、棒状部材の孔への挿入を短時間で完了することができ、さらに、棒状部材を孔が設けられた部材に押し付けたままで移動させることがない組立方法を提供し、また、この組立方法を実施することができる組立装置を提供することにある。 Therefore, the present invention has been made in view of the above circumstances, and its purpose is to insert the rod-shaped member into the hole in a short time without the necessity of particularly improving the accuracy of the member moving operation. To provide an assembly method that can be completed and that does not move the rod-like member while being pressed against the member provided with the hole, and to provide an assembly apparatus that can carry out this assembly method. is there.

前述の課題を解決し、前記目的を達成するため、本発明に係る組立方法は、以下の構成のいずれか一を有するものである。 In order to solve the above-described problems and achieve the above object, an assembling method according to the present invention has any one of the following configurations.

〔構成１〕
孔が設けられた部材、または、棒状部材のいずれかを把持して移動操作し孔に棒状部材を挿入させる組立方法であって、孔に棒状部材を挿入させようとしたときに棒状部材の先端部と孔の周囲部とが当接した場合に孔が設けられた部材が受ける挿入方向の並進力及びこれに直交する軸周りのモーメントを検出し、検出された並進力及びモーメントに基づく演算を行い棒状部材の先端部の当接位置の孔の中心からの方向及び距離を算出し、算出された方向及び距離に応じて孔が設けられた部材、または、棒状部材のいずれかを移動操作して棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 1]
An assembly method in which either a member provided with a hole or a rod-shaped member is gripped and moved to insert the rod-shaped member into the hole when the rod-shaped member is inserted into the hole. Detecting the translational force in the insertion direction received by the member provided with the hole when the part and the peripheral part of the hole are in contact with each other and the moment about the axis perpendicular to this are detected, and the calculation based on the detected translational force and moment is performed. Calculate the direction and distance from the center of the hole at the contact position of the tip of the rod-shaped member, and move or operate either the member provided with the hole or the rod-shaped member according to the calculated direction and distance The rod-shaped member is inserted into the hole.

〔構成２〕
構成１を有する組立方法において、検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差とに応じて予め定められた一定の距離だけ移動操作し、これらの動作を繰り返すことによって棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 2]
In the assembling method having the configuration 1, based on the detected moment, the direction from the center of the hole at the contact position is calculated, and in this direction, either the member provided with the hole or the rod-shaped member is replaced with the hole. In addition, the rod-shaped member is inserted into the hole by moving and operating a predetermined distance according to a diameter of the rod-shaped member and an assumed error included in the calculated direction, and repeating these operations. Is.

〔構成３〕
構成１を有する組立方法において、検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作し、これらの動作を繰り返すことによって棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 3]
In the assembling method having the configuration 1, based on the detected moment, the direction from the center of the hole at the contact position is calculated, and in this direction, either the member provided with the hole or the rod-shaped member is replaced with the hole. The rod-shaped member is moved by a predetermined distance according to the assumed error included in the diameter and the calculated direction of the rod-shaped member and the clearance between the hole and the rod-shaped member, and the rod-shaped member is perforated by repeating these operations. It is made to insert in.

〔構成４〕
構成１を有する組立方法において、検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向が全周方向を８つに等分した４５°ずつの領域のいずれに含まれているかを判別し、方向が含まれていると判別された領域の中心方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作し、これらの動作を繰り返すことによって棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 4]
In the assembling method having the configuration 1, the direction from the center of the hole at the contact position is calculated based on the detected moment, and this direction is any of the 45 ° regions obtained by equally dividing the entire circumferential direction into eight. It is determined whether it is included, and either the member provided with a hole or the rod-shaped member in the central direction of the area determined to include the direction, the diameter of the hole and the rod-shaped member and the hole and rod-shaped The rod-shaped member is inserted into the hole by performing a moving operation for a predetermined distance according to the clearance between the members and repeating these operations.

また、本発明に係る組立装置は、以下の構成のいずれか一を有するものである。 An assembling apparatus according to the present invention has any one of the following configurations.

〔構成５〕
孔が設けられた部材、または、棒状部材のいずれかを把持して移動操作し孔に棒状部材を挿入させる把持手段と、把持手段が孔に棒状部材を挿入させようとしたときに棒状部材の先端部と孔の周囲部とが当接した場合に孔が設けられた部材が受ける挿入方向の並進力及びこれに直交する軸周りのモーメントを検出する検出手段と、検出手段により検出された並進力及びモーメントに基づく演算を行いこの演算結果に応じて把持手段の動作を制御する制御手段とを備え、制御手段は、検出手段により検出された並進力及びモーメントに基づき、棒状部材の先端部の当接位置の孔の中心からの方向及び距離を算出し、これらの方向及び距離に応じて、孔が設けられた部材、または、棒状部材のいずれかを移動操作させ、棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 5]
A gripping means for gripping either the member provided with the hole or the rod-shaped member and moving and inserting the rod-shaped member into the hole; and when the gripping means attempts to insert the rod-shaped member into the hole, Detection means for detecting the translational force in the insertion direction received by the member provided with the hole when the tip and the peripheral part of the hole are in contact with each other and the moment about the axis orthogonal thereto, and the translation detected by the detection means Control means for performing an operation based on the force and moment and controlling the operation of the gripping means according to the result of the operation, the control means based on the translational force and the moment detected by the detection means. The direction and distance from the center of the hole at the contact position is calculated, and either the member provided with the hole or the rod-shaped member is moved according to the direction and distance, and the rod-shaped member is inserted into the hole. Make And it is characterized in and.

〔構成６〕
構成５を有する組立装置において、制御手段は、検出手段により検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差とに応じて予め定められた一定の距離だけ移動操作させ、これらの動作を繰り返すことによって棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 6]
In the assembling apparatus having the configuration 5, the control means calculates the direction of the contact position from the center of the hole based on the moment detected by the detection means, and the member provided with the hole in this direction or the rod-like shape Any one of the members is moved by a predetermined distance according to the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction, and the rod-shaped member is turned into the hole by repeating these operations. It is characterized by being inserted.

〔構成７〕
構成５を有する組立装置において、制御手段は、把持手段の動作の制御において、インピーダンス制御を行うとともに、検出手段により検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作させ、これらの動作を繰り返すことによって棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 7]
In the assembly apparatus having the configuration 5, the control means performs impedance control in controlling the operation of the gripping means, calculates the direction from the center of the hole at the contact position based on the moment detected by the detection means, In this direction, either the member provided with the hole or the rod-shaped member is determined in advance according to the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction and the clearance between the hole and the rod-shaped member. The rod-shaped member is inserted into the hole by performing a moving operation for a predetermined distance and repeating these operations.

〔構成８〕
構成５を有する組立装置において、制御手段は、把持手段の動作の制御において、インピーダンス制御を行うとともに、検出手段により検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向が全周方向を８つに等分した４５°ずつの領域のいずれに含まれているかを判別し、方向が含まれていると判別された領域の中心方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作させ、これらの動作を繰り返すことによって棒状部材を孔に挿入させることを特徴とするものである。 [Configuration 8]
In the assembly apparatus having the configuration 5, the control means performs impedance control in controlling the operation of the gripping means, calculates the direction from the center of the hole at the contact position based on the moment detected by the detection means, It was determined whether this direction was included in a 45 ° region obtained by equally dividing the entire circumferential direction into eight, and a hole was provided in the central direction of the region determined to include the direction. Either the member or the rod-like member is moved by a predetermined distance according to the diameter of the hole and the rod-like member and the clearance between the hole and the rod-like member, and the rod-like member is repeated by repeating these operations. Is inserted into the hole.

〔構成９〕
構成５乃至構成８のいずれか一を有する組立装置であって、棒状部材を固定して支持し、把持手段は、孔が設けられた部材を把持し、検出手段は、把持手段に設けられていることを特徴とするものである。 [Configuration 9]
An assembling apparatus having any one of Configurations 5 to 8, wherein the rod-shaped member is fixedly supported, the gripping means grips the member provided with the hole, and the detection means is provided in the gripping means. It is characterized by being.

本発明に係る組立方法においては、構成１を有することにより、孔に棒状部材を挿入させようとしたときに棒状部材の先端部と孔の周囲部とが当接した場合には、孔が設けられた部材が受ける挿入方向の並進力及びこれに直交する軸周りのモーメントを検出し、検出された並進力及びモーメントに基づく演算を行い棒状部材の先端部の当接位置の孔の中心からの方向及び距離を算出し、算出された方向及び距離に応じて孔が設けられた部材、または、棒状部材のいずれかを移動操作して棒状部材を孔に挿入させるので、棒状部材と孔との相対位置を迅速に修正して、棒状部材の孔への挿入を完了することができる。 In the assembling method according to the present invention, by having the configuration 1, when the rod-shaped member is inserted into the hole, the hole is provided when the tip of the rod-shaped member comes into contact with the peripheral portion of the hole. The translational force in the insertion direction received by the selected member and the moment around the axis orthogonal to this are detected, and the calculation based on the detected translational force and moment is performed to determine the contact position of the tip of the rod-shaped member from the center of the hole. The direction and distance are calculated, and either the member provided with the hole according to the calculated direction and distance or the rod-shaped member is moved to insert the rod-shaped member into the hole. The relative position can be quickly corrected to complete the insertion of the rod-like member into the hole.

本発明に係る組立方法においては、構成２を有することにより、検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差とに応じて予め定められた一定の距離だけ移動操作し、これらの動作を繰り返すことによって棒状部材を孔に挿入させるので、棒状部材の当接位置の孔の中心からの方向及び距離が正確に求められない場合においても、棒状部材と孔との相対位置を修正して、棒状部材の孔への挿入を完了することができる。 In the assembly method according to the present invention, by having the configuration 2, the direction from the center of the hole at the contact position is calculated based on the detected moment, and the member provided with the hole in this direction, or One of the rod-shaped members is moved by a predetermined distance according to the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction, and the rod-shaped member is holed by repeating these operations. Therefore, even when the direction and distance from the center of the hole at the contact position of the rod-shaped member cannot be obtained accurately, the relative position between the rod-shaped member and the hole is corrected and the rod-shaped member is inserted into the hole. Can be completed.

本発明に係る組立方法においては、構成３を有することにより、検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作し、これらの動作を繰り返すことによって棒状部材を孔に挿入させるので、棒状部材の当接位置の孔の中心からの方向及び距離が正確に求められない場合においても、棒状部材と孔との相対位置を修正して、棒状部材の孔への挿入を完了することができる。 In the assembly method according to the present invention, having the configuration 3, the direction from the center of the hole at the contact position is calculated based on the detected moment, and the member provided with the hole in this direction, or Any one of the rod-shaped members is moved and operated by a predetermined distance according to the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction and the clearance between the hole and the rod-shaped member. Since the rod-shaped member is inserted into the hole by repeating the above, even if the direction and distance from the center of the hole at the contact position of the rod-shaped member cannot be accurately obtained, the relative position between the rod-shaped member and the hole is corrected. The insertion of the rod-shaped member into the hole can be completed.

本発明に係る組立方法においては、構成４を有することにより、検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向が全周方向を８つに等分した４５°ずつの領域のいずれに含まれているかを判別し、方向が含まれていると判別された領域の中心方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作し、これらの動作を繰り返すことによって棒状部材を孔に挿入させるので、棒状部材の当接位置の孔の中心からの方向及び距離の検出精度が低い場合であっても、棒状部材と孔との相対位置を修正して、棒状部材の孔への挿入を完了することができる。 In the assembling method according to the present invention, by having the configuration 4, the direction from the center of the hole at the contact position is calculated based on the detected moment, and this direction equally divides the entire circumferential direction into eight. It is determined which of the 45 ° regions is included, and a member provided with a hole or a rod-shaped member in the central direction of the region determined to include the direction is inserted into the hole and Since the rod-shaped member is inserted into the hole by moving the rod-shaped member by a predetermined distance according to the diameter of the rod-shaped member and the clearance between the hole and the rod-shaped member, and repeating these operations, the contact position of the rod-shaped member Even when the detection accuracy of the direction and distance from the center of the hole is low, the relative position between the rod-shaped member and the hole can be corrected to complete the insertion of the rod-shaped member into the hole.

本発明に係る組立装置においては、構成５を有することにより、制御手段は、検出手段により検出された並進力及びモーメントに基づき、棒状部材の先端部の当接位置の孔の中心からの方向及び距離を算出し、これらの方向及び距離に応じて、孔が設けられた部材、または、棒状部材のいずれかを移動操作させ、棒状部材を孔に挿入させるので、棒状部材と孔との相対位置を迅速に修正して、棒状部材の孔への挿入を完了することができる。 In the assembling apparatus according to the present invention, by having the configuration 5, the control unit is configured based on the translational force and the moment detected by the detection unit, the direction from the center of the hole at the contact position of the tip of the rod-shaped member, and The distance is calculated, and either the member provided with the hole or the rod-shaped member is moved according to these directions and distances, and the rod-shaped member is inserted into the hole, so the relative position of the rod-shaped member and the hole Can be quickly corrected to complete the insertion of the rod-shaped member into the hole.

本発明に係る組立装置においては、構成６を有することにより、制御手段は、検出手段により検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差とに応じて予め定められた一定の距離だけ移動操作させ、これらの動作を繰り返すことによって棒状部材を孔に挿入させるので、棒状部材の当接位置の孔の中心からの方向及び距離が正確に求められない場合においても、棒状部材と孔との相対位置を修正して、棒状部材の孔への挿入を完了することができる。 In the assembling apparatus according to the present invention, having the configuration 6, the control means calculates the direction from the center of the hole at the contact position based on the moment detected by the detection means, and in this direction the hole is Either the provided member or the rod-shaped member is moved by a predetermined distance according to the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction, and these operations are performed. Since the rod-shaped member is inserted into the hole by repeating, even when the direction and distance from the center of the hole at the contact position of the rod-shaped member is not accurately determined, the relative position between the rod-shaped member and the hole is corrected, Insertion of the rod-shaped member into the hole can be completed.

本発明に係る組立装置においては、構成７を有することにより、制御手段は、把持手段の動作の制御において、インピーダンス制御を行うとともに、検出手段により検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と算出された方向に含まれる想定誤差と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作させ、これらの動作を繰り返すことによって棒状部材を孔に挿入させるので、棒状部材の当接位置の孔の中心からの方向及び距離が正確に求められない場合においても、棒状部材と孔との相対位置を修正して、棒状部材の孔への挿入を完了することができる。 In the assembling apparatus according to the present invention, having the configuration 7, the control means performs impedance control in controlling the operation of the gripping means, and based on the moment detected by the detection means, Calculate the direction from the center, and in this direction, either the member provided with the hole or the rod-shaped member, the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction and the distance between the hole and the rod-shaped member Since the rod-shaped member is inserted into the hole by repeating the above-mentioned operation by moving the distance by a predetermined distance according to the clearance, the direction and distance from the center of the hole at the contact position of the rod-shaped member Even when it cannot be obtained accurately, the relative position between the rod-shaped member and the hole can be corrected to complete the insertion of the rod-shaped member into the hole.

本発明に係る組立装置においては、構成８を有することにより、制御手段は、把持手段の動作の制御において、インピーダンス制御を行うとともに、検出手段により検出されたモーメントに基づき、当接位置の孔の中心からの方向を算出し、この方向が全周方向を８つに等分した４５°ずつの領域のいずれに含まれているかを判別し、方向が含まれていると判別された領域の中心方向に、孔が設けられた部材、または、棒状部材のいずれかを、孔及び棒状部材の径と孔及び棒状部材間のクリアランスとに応じて予め定められた一定の距離だけ移動操作させ、これらの動作を繰り返すことによって棒状部材を孔に挿入させるので、棒状部材の当接位置の孔の中心からの方向及び距離の検出精度が低い場合であっても、棒状部材と孔との相対位置を修正して、棒状部材の孔への挿入を完了することができる。 In the assembling apparatus according to the present invention, having the configuration 8, the control means performs impedance control in controlling the operation of the gripping means, and based on the moment detected by the detection means, Calculate the direction from the center, determine which of the 45 ° regions is divided into eight directions, and determine the center of the region that is determined to include the direction. Either a member provided with a hole in the direction or a rod-shaped member is moved by a predetermined distance according to the diameter of the hole and the rod-shaped member and the clearance between the hole and the rod-shaped member, and these Since the rod-shaped member is inserted into the hole by repeating the above operation, the relative position between the rod-shaped member and the hole even if the detection accuracy of the direction and distance from the center of the hole at the contact position of the rod-shaped member is low. Fix it, it is possible to complete the insertion into the hole of the rod.

本発明に係る組立装置においては、構成９を有することにより、棒状部材が固定して支持され、把持手段は、孔が設けられた部材を把持し、検出手段は、把持手段に設けられているので、検出手段として、インピーダンス制御を行うための検出手段と兼用することができ、装置構成を簡素化することができる。 In the assembling apparatus according to the present invention, by having the configuration 9, the rod-shaped member is fixedly supported, the gripping means grips the member provided with the hole, and the detection means is provided in the gripping means. Therefore, the detection unit can be used also as a detection unit for performing impedance control, and the apparatus configuration can be simplified.

すなわち、本発明は、部材の移動操作の精度を特段に向上させる必要を生ずることなく、棒状部材の孔への挿入を短時間で完了することができ、さらに、棒状部材を孔が設けられた部材に押し付けたままで移動させることがない組立方法を提供することができるものである。また、本発明は、本発明に係る組立方法を実施することができる組立装置を提供することができるものである。 That is, the present invention can complete the insertion of the rod-shaped member into the hole in a short time without the necessity of particularly improving the accuracy of the member moving operation, and the rod-shaped member is provided with the hole. It is possible to provide an assembling method that does not move while being pressed against a member. Moreover, this invention can provide the assembly apparatus which can implement the assembly method which concerns on this invention.

以下、本発明を実施するための最良の形態について図面を参照して説明する。 The best mode for carrying out the present invention will be described below with reference to the drawings.

〔組立装置の構成〕
図１は、本発明に係る組立装置の構成を示す側面図である。 [Configuration of assembly equipment]
FIG. 1 is a side view showing a configuration of an assembling apparatus according to the present invention.

本発明に係る組立装置は、図１に示すように、把持手段となるロボットアーム１及び制御手段３を有して構成されている。 As shown in FIG. 1, the assembling apparatus according to the present invention includes a robot arm 1 serving as a gripping means and a control means 3.

図２は、本発明に係る組立装置の要部の構成を示す側面図である。 FIG. 2 is a side view showing a configuration of a main part of the assembling apparatus according to the present invention.

そして、本発明に係る組立装置においては、図２に示すように、ロボットアーム１は、孔が設けられた部材（以下、「孔部品」という。）１０１、または、棒状部材（以下、「軸部品」という。）１０２のいずれかを把持して移動操作する。この実施の形態においては、ロボットアーム１は、孔部品１０１を把持するようになっている。また、この組立装置においては、軸部品１０２は、固定されて支持される。 In the assembling apparatus according to the present invention, as shown in FIG. 2, the robot arm 1 includes a member provided with a hole (hereinafter referred to as “hole part”) 101 or a rod-like member (hereinafter referred to as “shaft”). The component is called “component”) 102 and is moved. In this embodiment, the robot arm 1 is configured to grip the hole component 101. In this assembling apparatus, the shaft component 102 is fixed and supported.

この組立装置においては、ロボットアーム１は、把持した孔部品１０１を移動操作し、この孔部品１０１の孔１０３に、軸部品１０２を挿入させる。 In this assembling apparatus, the robot arm 1 moves the gripped hole part 101 and inserts the shaft part 102 into the hole 103 of the hole part 101.

ロボットアーム１には、孔部品１０１を把持した状態で、この孔部品１０１が受ける並進方向（孔の軸方向）の力及びこの並進方向に直交する軸回りのモーメントを計測する検出手段として、力センサ２を設けることができる。この力センサ２は、ロボットアーム１が軸部品１０２を孔１０３に挿入させようとしたときに、軸部品１０２の先端部と孔１０３の周囲部とが当接した場合に、孔部品１０１が受ける挿入方向の並進力及びこれに直交する軸周りのモーメントを検出する。なお、ロボットアーム１における力センサ２は、以下に述べるインピーダンス制御を行うためのセンサを兼ねている。 The robot arm 1 has a force as a detecting means for measuring the force in the translation direction (the axial direction of the hole) received by the hole component 101 and the moment about the axis orthogonal to the translation direction while holding the hole component 101. A sensor 2 can be provided. When the robot arm 1 tries to insert the shaft component 102 into the hole 103, the force sensor 2 is received by the hole component 101 when the tip of the shaft component 102 and the peripheral portion of the hole 103 come into contact with each other. The translational force in the insertion direction and the moment about the axis perpendicular to this are detected. The force sensor 2 in the robot arm 1 also serves as a sensor for performing impedance control described below.

図３は、本発明に係る組立装置の構成を示すブロック図である。 FIG. 3 is a block diagram showing the configuration of the assembling apparatus according to the present invention.

この組立装置においては、力センサ２からの検出出力は、図３に示すように、制御手段３に送られる。この制御手段３は、力制御器３ａと、当接位置算出部３ｂとから構成されている。力センサ２からの検出出力は、力制御器３ａの倣い動作生成部４及び当接位置算出部３ｂの算出部５に送られる。 In this assembling apparatus, the detection output from the force sensor 2 is sent to the control means 3 as shown in FIG. This control means 3 is comprised from the force controller 3a and the contact position calculation part 3b. The detection output from the force sensor 2 is sent to the copying operation generation unit 4 of the force controller 3a and the calculation unit 5 of the contact position calculation unit 3b.

倣い動作生成部４は、力センサ２により検出された並進力及びモーメントに基づき、ロボットアーム１が受けた力に倣って動作するための倣い動作信号を生成し、加算器７に送る。この加算器７においては、倣い動作信号と、力制御器３ａの目標動作指示部６から出力された制御信号とが加算される。加算器７において加算された信号は、ロボットアーム１が目標として設定された動作を行いつつ、外力を受けた場合には、この力に倣って動作するインピーダンス制御等がなされるための動作制御信号となっている。この動作制御信号は、偏差補償器８を経て、ロボットアーム１の駆動装置９に送られる。 The copying operation generation unit 4 generates a copying operation signal for operating in accordance with the force received by the robot arm 1 based on the translational force and the moment detected by the force sensor 2 and sends them to the adder 7. In the adder 7, the scanning operation signal and the control signal output from the target operation instruction unit 6 of the force controller 3a are added. The signal added in the adder 7 is an operation control signal for performing impedance control or the like that operates following this force when the robot arm 1 performs an operation set as a target and receives an external force. It has become. This operation control signal is sent to the driving device 9 of the robot arm 1 through the deviation compensator 8.

また、ロボットアーム１には、このロボットアーム１の位置、姿勢及び動作速度を検出するための位置センサ１０が設けられている。この位置センサ１０からの位置検出出力は、偏差補償器８に送られる。偏差補償器８は、位置センサ１０からの位置検出出力に基づいて、ロボットアーム１が動作制御信号に応じた動作を行うように制御する。 Further, the robot arm 1 is provided with a position sensor 10 for detecting the position, posture and operation speed of the robot arm 1. The position detection output from the position sensor 10 is sent to the deviation compensator 8. Based on the position detection output from the position sensor 10, the deviation compensator 8 controls the robot arm 1 to perform an operation according to the operation control signal.

一方、当接位置算出部３ｂの算出部５は、力センサ２により検出された並進力及びモーメントに基づく演算を行い、この演算結果を力制御器３ａの目標動作指示部６に送る。すなわち、この組立装置においては、ロボットアーム１は、予め設定された目標動作に加えて、当接位置算出部３ｂの算出部５における演算結果である補正情報に応じて、動作が制御される。 On the other hand, the calculation unit 5 of the contact position calculation unit 3b performs a calculation based on the translational force and the moment detected by the force sensor 2, and sends the calculation result to the target operation instruction unit 6 of the force controller 3a. That is, in this assembling apparatus, the operation of the robot arm 1 is controlled in accordance with correction information that is a calculation result in the calculation unit 5 of the contact position calculation unit 3b in addition to the preset target operation.

図４は、倣い動作生成部４の構成を示すブロック図である。 FIG. 4 is a block diagram illustrating a configuration of the copying operation generation unit 4.

力制御器３ａは、例えば、インピーダンス制御を行う場合には、図４に示すように、倣い動作生成部４としてインピーダンス偏差計算部４を有するものとして構成することができる。この力制御器３ａにおいては、ロボットアーム１からの位置検出出力である実関節速度θが順運動学計算部１１に送られ、力センサ２からの検出出力である手先力及びモーメントＦがインピーダンス偏差計算部４に送られる。 For example, when performing the impedance control, the force controller 3a can be configured to include the impedance deviation calculating unit 4 as the copying operation generating unit 4 as shown in FIG. In this force controller 3a, the actual joint speed θ which is the position detection output from the robot arm 1 is sent to the forward kinematics calculation unit 11, and the hand force and the moment F which are detection outputs from the force sensor 2 are impedance deviations. It is sent to the calculation unit 4.

インピーダンス偏差計算部４は、〔Ｍｘ′′_ｉ＋Ｄｘ′_ｉ＋Ｋｘ_ｉ＝Ｆ〕より、インピーダンス偏差量ｘ_ｉ及びインピーダンス偏差速度ｘ′_ｉを算出し、軌道生成部６からの出力信号に加算する。Ｍ，Ｄ，Ｋは、それぞれ、仮想マス、ダンパ、バネに対応する定数である。なお、ダンピング制御の場合には、Ｍ，Ｋは、０となる。 The impedance deviation calculation unit 4 calculates the impedance deviation amount x _i and the impedance deviation speed x ′ _i from [Mx ″ _i + Dx ′ _i + Kx _i = F], and adds them to the output signal from the trajectory generation unit 6. M, D, and K are constants corresponding to the virtual mass, the damper, and the spring, respectively. In the case of damping control, M and K are 0.

インピーダンス偏差量ｘ_ｉを加算された目標手先位置・姿勢を示す信号Ｘrefは、順運動学計算部１１から出力された実手先位置・姿勢を示す信号Ｘを加算されて、Ｐゲイン（比例ゲイン）回路１２を経て、現在の偏差に比例した制御出力となされて、加算器に送られる。インピーダンス偏差速度ｘ′_ｉを加算された目標手先速度を示す信号Ｖrefは、加算器に送られ、Ｐゲイン回路１２を経た信号と加算されて、逆ヤコビ行列回路１３に送られる。逆ヤコビ行列回路１３は、手先位置・姿勢の微分値（速度）から、目標関節速度ωrefを導いて、ロボットアーム１に供給する。 Signal Xref indicating the target hand position and posture obtained by adding the impedance deviation x _i are summed signal X indicating the actual hand position and orientation output from the forward kinematical calculation unit 11, P gain (proportional gain) A control output proportional to the current deviation is made through the circuit 12 and sent to the adder. The signal Vref indicating the target hand speed added with the impedance deviation speed x ′ _i is sent to the adder, added with the signal passed through the P gain circuit 12, and sent to the inverse Jacobian matrix circuit 13. The inverse Jacobian matrix circuit 13 derives the target joint speed ωref from the differential value (speed) of the hand position / posture and supplies it to the robot arm 1.

図５は、本発明に係る組立装置の構成の他の例を示すブロック図である。 FIG. 5 is a block diagram showing another example of the configuration of the assembling apparatus according to the present invention.

本発明に係る組立装置は、ロボットアーム１が孔部品１０１を把持した状態において、この孔部品１０１が受ける並進方向の力及びこの並進方向に直交する軸回りのモーメントを計測する検出手段として、力センサ２を設けなくとも構成することができる。 The assembly apparatus according to the present invention uses force as a detecting means for measuring a translational direction force received by the hole part 101 and a moment about an axis perpendicular to the translational direction when the robot arm 1 grips the hole part 101. It is possible to configure without providing the sensor 2.

すなわち、この組立装置においては、位置センサ１０からの検出出力は、図６に示すように、力制御器３ａの力・モーメント推定器１４に送られる。この力・モーメント推定器１４は、ロボットアーム１が受ける並進方向の力及びこの並進方向に直交する軸回りのモーメントを計測する検出手段となる。すなわち、力・モーメント推定器１４は、位置センサ１０からの検出出力及び偏差補償器８から出力される制御信号を比較して、ロボットアーム１が受ける並進方向の力及びこの並進方向に直交する軸回りのモーメントを推定する。 That is, in this assembling apparatus, the detection output from the position sensor 10 is sent to the force / moment estimator 14 of the force controller 3a as shown in FIG. The force / moment estimator 14 serves as detection means for measuring the force in the translation direction received by the robot arm 1 and the moment about the axis orthogonal to the translation direction. That is, the force / moment estimator 14 compares the detection output from the position sensor 10 and the control signal output from the deviation compensator 8 to determine the translational direction force received by the robot arm 1 and the axis orthogonal to the translational direction. Estimate the moment around.

力・モーメント推定器１４による推定結果を示す出力は、力制御器３ａの倣い動作生成部４及び当接位置算出部３ｂの算出部５に送られる。倣い動作生成部４は、力・モーメント推定器１４により推定された並進力及びモーメントに基づき、ロボットアーム１が受けた力に倣って動作するための倣い動作信号を生成し、加算器７に送る。この加算器７においては、倣い動作信号と、力制御器３ａの目標動作指示部６から出力された制御信号とが加算される。加算器７において加算された信号は、ロボットアーム１が目標として設定された動作を行いつつ、外力を受けた場合には、この力に倣って動作するインピーダンス制御等がなされるための動作制御信号となっている。この動作制御信号は、偏差補償器８を経て、ロボットアーム１の駆動装置９に送られる。 The output indicating the estimation result by the force / moment estimator 14 is sent to the copying operation generator 4 of the force controller 3a and the calculator 5 of the contact position calculator 3b. The copying operation generation unit 4 generates a copying operation signal for operating following the force received by the robot arm 1 based on the translational force and moment estimated by the force / moment estimator 14 and sends it to the adder 7. . In the adder 7, the scanning operation signal and the control signal output from the target operation instruction unit 6 of the force controller 3a are added. The signal added in the adder 7 is an operation control signal for performing impedance control or the like that operates following this force when the robot arm 1 performs an operation set as a target and receives an external force. It has become. This operation control signal is sent to the driving device 9 of the robot arm 1 through the deviation compensator 8.

また、位置センサ１０からの位置検出出力は、偏差補償器８にも送られる。偏差補償器８は、位置センサ１０からの位置検出出力に基づいて、ロボットアーム１が動作制御信号に応じた動作を行うように制御する。 The position detection output from the position sensor 10 is also sent to the deviation compensator 8. Based on the position detection output from the position sensor 10, the deviation compensator 8 controls the robot arm 1 to perform an operation according to the operation control signal.

一方、当接位置算出部３ｂの算出部５は、力・モーメント推定器１４により推定された並進力及びモーメントに基づく演算を行い、この演算結果を力制御器３ａの目標動作指示部６に送る。すなわち、この組立装置においては、ロボットアーム１は、予め設定された目標動作に加えて、当接位置算出部３ｂの算出部５における演算結果である補正情報に応じて、動作が制御される。 On the other hand, the calculation unit 5 of the contact position calculation unit 3b performs a calculation based on the translational force and the moment estimated by the force / moment estimator 14, and sends the calculation result to the target motion instruction unit 6 of the force controller 3a. . That is, in this assembling apparatus, the operation of the robot arm 1 is controlled in accordance with correction information that is a calculation result in the calculation unit 5 of the contact position calculation unit 3b in addition to the preset target operation.

〔軸部品の当接位置が正確に求められる場合〕
この組立装置においは、把持した孔部品１０１を移動操作しこの孔部品１０１の孔１０３に軸部品１０２を挿入させようとしたときに、制御手段３は、力センサ２により検出され、または、力・モーメント推定器１４により推定された並進力及びモーメントに基づき、軸部品１０２の先端部の当接位置の孔の中心からの方向及び距離を算出し、これら方向及び距離に応じて、孔部品１０１、または、軸部品１０２のいずれかを移動操作させ、軸部品１０２を孔１０３に挿入させる
図６は、孔部品１０１と軸部品１０２との位置関係を示す平面図である。 [When the contact position of the shaft parts is accurately determined]
In this assembling apparatus, when the gripping hole component 101 is moved and the shaft component 102 is inserted into the hole 103 of the hole component 101, the control means 3 is detected by the force sensor 2 or force Based on the translational force and moment estimated by the moment estimator 14, the direction and distance from the center of the hole at the contact position of the tip of the shaft part 102 are calculated, and the hole part 101 is calculated according to these direction and distance. Alternatively, any one of the shaft components 102 is moved and the shaft component 102 is inserted into the hole 103. FIG. 6 is a plan view showing the positional relationship between the hole component 101 and the shaft component 102.

ここで、図６に示すように、孔部品１０１の孔１０３に軸部品１０２を挿入させるときに、芯ずれのため、軸部品１０２の先端部が孔１０３の周囲部分に当接した状況を考える。図６は、挿入方向から見たときの様子を示す。ここでは、孔１０３が孔部品１０１の中心にあり、軸部品１０２の先端部が、孔部品１０１の中心を原点とする座標で（ｘ１，ｙ１）の位置に当接した場合を考える。 Here, as shown in FIG. 6, when the shaft component 102 is inserted into the hole 103 of the hole component 101, a situation is considered in which the tip of the shaft component 102 is in contact with the peripheral portion of the hole 103 due to misalignment. . FIG. 6 shows a state when viewed from the insertion direction. Here, a case is considered where the hole 103 is at the center of the hole part 101 and the tip of the shaft part 102 is in contact with the position (x1, y1) in coordinates with the center of the hole part 101 as the origin.

組立装置の力センサ２は、ｘ軸及びｙ軸回りのモーメントＮｘ１，Ｎｙ１と、当接時の押付力（並進力）Ｆｚ１を計測する。なお、これらモーメント及び押付力（並進力）は瞬間的に生ずるものなので、積分値として求めることが望ましい。制御手段３は、力センサ２により計測されたこれら計測値に基づいて、当接位置の座標（ｘ１，ｙ１）を求める。この座標（ｘ１，ｙ１）に基づいて、再度挿入動作を行えば、挿入が完了するはずである。 The force sensor 2 of the assembling apparatus measures moments Nx1 and Ny1 around the x axis and the y axis, and a pressing force (translation force) Fz1 at the time of contact. Since these moments and pressing force (translational force) are generated instantaneously, it is desirable to obtain them as integral values. The control means 3 obtains the coordinates (x1, y1) of the contact position based on these measured values measured by the force sensor 2. If the insertion operation is performed again based on the coordinates (x1, y1), the insertion should be completed.

例えば、この組立装置において、座標（ｘ０，ｙ０）において組立てに失敗した場合、つまり、軸部品１０２が孔１０３に挿入されなかった場合には、当接位置（ｘ１，ｙ１）を求め、次に、座標（ｘ０−ｘ１，ｙ０−ｙ１）に移動操作し、再度挿入動作を行えば、挿入が完了する。 For example, in this assembly apparatus, when the assembly fails at the coordinates (x0, y0), that is, when the shaft component 102 is not inserted into the hole 103, the contact position (x1, y1) is obtained, , Move to coordinates (x0-x1, y0-y1), and perform the insertion operation again, the insertion is completed.

モーメントは、力と回転軸及び作用点間の距離との積であるので、Ｆｚ１，Ｎｘ１，Ｎｙ１の関係は、以下のように示すことができる。 Since the moment is the product of the force and the distance between the rotation axis and the action point, the relationship between Fz1, Nx1, and Ny1 can be expressed as follows.

Ｎｘ１＝ｙ１×Ｆｚ１・・・（式１）
Ｎｙ１＝ｘ１×Ｆｚ１・・・（式２）
この関係より、以下の関係が求められる。 Nx1 = y1 × Fz1 (Formula 1)
Ny1 = x1 × Fz1 (Formula 2)
From this relationship, the following relationship is required.

ｙ１＝Ｎｘ１／Ｆｚ１・・・（式３）
ｘ１＝Ｎｙ１／Ｆｚ１・・・（式４）
このようにして、軸部品１０２の当接点の位置がわかる。この場合には、１回めの挿入動作により、孔部品１０１と軸部品１０２とが当接して芯ずれ量がわかり、２回めの挿入動作により挿入が完了するので、短時間にて挿入操作を完了することができる。 y1 = Nx1 / Fz1 (Formula 3)
x1 = Ny1 / Fz1 (Formula 4)
In this way, the position of the contact point of the shaft component 102 is known. In this case, the hole part 101 and the shaft part 102 come into contact with each other by the first insertion operation, and the misalignment amount is known, and the insertion is completed by the second insertion operation. Can be completed.

図８は、本発明に係る組立方法の手順を示すフローチャートである。 FIG. 8 is a flowchart showing the procedure of the assembling method according to the present invention.

このような組立装置の動作をフローチャートより示すと、図８に示すように、本発明に係る組立方法の手順を示すものとなり、すなわち、ステップｓｔ１において動作を開始すると、ステップｓｔ２に進み、挿入動作を開始する。次に、ステップｓｔ３に進み、軸部品１０２の先端部と孔部品１０１とが当接したか否かを判断する。軸部品１０２の先端部と孔部品１０１とが当接したならばステップｓｔ４に進み、軸部品１０２の先端部と孔部品１０１とが当接せず挿入操作が完了したならば、ステップｓｔ７に進んで動作を終了する。 When the operation of such an assembling apparatus is shown in the flowchart, as shown in FIG. 8, the procedure of the assembling method according to the present invention is shown. That is, when the operation is started in step st1, the operation proceeds to step st2, and the insertion operation is performed. To start. Next, it progresses to step st3 and it is judged whether the front-end | tip part of the axial component 102 and the hole component 101 contact | abutted. If the tip part of the shaft part 102 and the hole part 101 contact each other, the process proceeds to step st4. If the tip part of the shaft part 102 does not contact the hole part 101 and the insertion operation is completed, the process proceeds to step st7. Ends the operation.

ステップｓｔ４では、軸部品１０２の先端部と孔部品１０１との当接の瞬間のｘ軸及びｙ軸回りのモーメントＮｘ１，Ｎｙ１と押付力（並進力）Ｆｚ１とを計測し、ステップｓｔ５に進む。ステップｓｔ５では、前述の（式３），（式４）により、軸部品１０２と孔部品１０１との当接点の位置の座標（ｘ１，ｙ１）を算出し、ステップｓｔ６に進む。ステップｓｔ６では、ステップｓｔ５で算出された当接位置の座標（ｘ１，ｙ１）に基づいて、孔部品１０１を座標（ｘ０−ｘ１，ｙ０−ｙ１）に移動操作し、ステップｓｔ２に戻り、再度挿入動作を行う。 In step st4, moments Nx1, Ny1 and pressing force (translation force) Fz1 around the x-axis and y-axis at the moment of contact between the tip of the shaft part 102 and the hole part 101 are measured, and the process proceeds to step st5. In step st5, the coordinates (x1, y1) of the position of the contact point between the shaft part 102 and the hole part 101 are calculated by the above-described (Expression 3) and (Expression 4), and the process proceeds to Step st6. In step st6, based on the coordinates (x1, y1) of the contact position calculated in step st5, the hole part 101 is moved to the coordinates (x0-x1, y0-y1), the process returns to step st2, and is inserted again. Perform the action.

なお、孔１０３の内縁部及び軸部品１０２の先端部の周縁部に面取りがなされており、かつ、ロボットアーム１がインピーダンス制御等をなされている場合には、面取面同士が当接すれば、挿入が可能である。この場合には、孔１０３は、面取り量だけ大きい内径とみなすことができ、また、軸部品１０２は、面取り量だけ細い外径とみなすことができる。 If the inner edge of the hole 103 and the peripheral edge of the tip of the shaft part 102 are chamfered and the robot arm 1 is subjected to impedance control or the like, if the chamfered surfaces abut, Insertion is possible. In this case, the hole 103 can be regarded as an inner diameter that is larger by a chamfering amount, and the shaft component 102 can be regarded as an outer diameter that is thinner by a chamfering amount.

〔軸部品の当接位置までの距離が正確に求められない場合〕
一方、孔部品１０１と軸部品１０２との芯ずれ量が微小である場合や、孔部品１０１と軸部品１０２との間の押付力が小さい場合には、力センサ２によって計測されるモーメントＮｘ１，Ｎｙ１及び押付力Ｆｚ１が小さくなり、ノイズの影響が大きくなる。そのため、これらモーメントＮｘ１，Ｎｙ１及び押付力Ｆｚ１の値に対して所定のフィルタ処理を施す必要がある。この場合には、孔部品１０１と軸部品１０２とが当接したときの瞬間的な力の関係をうまく再現できない虞がある。すなわち、各モーメントＮｘ１，Ｎｙ１は、同じ比率でフィルタ処理をなされるが、押付力Ｆｚ１は、モーメントＮｘ１，Ｎｙ１とは異なる比率でフィルタ処理される可能性がある。この場合には、前述の（式１），（式２）の関係は成立しない。この場合には、前述の（式３），（式４）で得られる芯ずれ量（ｘ１，ｙ１）も正確なものでない。 (When the distance to the contact position of the shaft component cannot be determined accurately)
On the other hand, when the misalignment amount between the hole part 101 and the shaft part 102 is very small, or when the pressing force between the hole part 101 and the shaft part 102 is small, the moment Nx1, measured by the force sensor 2 is used. Ny1 and the pressing force Fz1 are reduced, and the influence of noise is increased. Therefore, it is necessary to perform a predetermined filtering process on the values of the moments Nx1, Ny1 and the pressing force Fz1. In this case, there is a possibility that the instantaneous force relationship when the hole part 101 and the shaft part 102 come into contact with each other cannot be reproduced well. That is, the moments Nx1 and Ny1 are filtered at the same ratio, but the pressing force Fz1 may be filtered at a ratio different from the moments Nx1 and Ny1. In this case, the relationship of the above (Formula 1) and (Formula 2) is not established. In this case, the misalignment amount (x1, y1) obtained by the above (Expression 3) and (Expression 4) is also not accurate.

しかしながら、この場合においても、各モーメントＮｘ１，Ｎｙ１の比は正確に保存されていると考えられる。各モーメントＮｘ１，Ｎｙ１の比が保存されていれば、孔部品１０１の中央から軸部品１０２の当接点に向けての方向θ１を、以下のように求めることができる。 However, even in this case, it is considered that the ratio of the moments Nx1 and Ny1 is accurately preserved. If the ratios of the moments Nx1 and Ny1 are stored, the direction θ1 from the center of the hole part 101 toward the contact point of the shaft part 102 can be obtained as follows.

θ１＝tan^−１（ｙ１／ｘ１）＝tan^−１（Ｎｘ１／Ｎｙ１）・・・（式５）
ここで、tan^−１の定義は、以下の通りである。 θ1 = tan ⁻¹ (y1 / x1) = tan ⁻¹ (Nx1 / Ny1) (Formula 5)
Here, the definition of tan ⁻¹ is as follows.

θ＝tan^−１（ｙ／ｘ）のとき、ｘ＝cos（θ），ｙ＝sin（θ）
すなわち、tan（θ）＝｛sin（θ）／cos（θ）｝＝ｙ／ｘ
この（式５）によって、孔部品１０１中央から軸部品１０２の当接点へ向かう方向θ１を求めることができる。そして、孔部品１０１中央から軸部品１０２の当接点までの距離δ１を決定すれば、当接位置の座標（ｘ１，ｙ１）の推定値を得ることができる。 When θ = tan ⁻¹ (y / x), x = cos (θ), y = sin (θ)
That is, tan (θ) = {sin (θ) / cos (θ)} = y / x
By this (Formula 5), the direction θ1 from the center of the hole part 101 toward the contact point of the shaft part 102 can be obtained. If the distance δ1 from the center of the hole part 101 to the contact point of the shaft part 102 is determined, an estimated value of the coordinates (x1, y1) of the contact position can be obtained.

距離δ１を決定する手法としては、以下の２つが考えられる。 The following two methods are conceivable as a method for determining the distance δ1.

（１）軸部品１０２と孔部品１０１とを押接させたままで、当接位置をθ１方向に移動させる手法
この手法は、前述の特許文献２に記載された技術と同様に、距離δ１を決定することなく、軸部品１０２と孔部品１０１とを押接させたままで、これらを摺動させ、当接位置をθ１方向に移動させて、孔１０３と軸部品１０２との芯が合致する位置を探し、軸部品１０２を孔１０３に挿入させるものである。 (1) A method of moving the contact position in the θ1 direction while keeping the shaft component 102 and the hole component 101 pressed against each other. This method determines the distance δ1 as in the technique described in Patent Document 2 described above. Without sliding the shaft component 102 and the hole component 101, they are slid and the contact position is moved in the θ1 direction so that the center of the hole 103 and the shaft component 102 is aligned. The shaft part 102 is searched and inserted into the hole 103.

軸部品１０２と孔部品１０１とを押接させたままで移動させることが可能な場合には、この手法を採用することができる。なお、この手法においては、特許文献２に記載された技術に比較して、軸部品１０２と孔部品１０１との相対移動方向は１軸方向で済むので、組立に要する時間を短くすることができる。 This method can be employed when the shaft component 102 and the hole component 101 can be moved while being pressed against each other. In this method, as compared with the technique described in Patent Document 2, the relative movement direction of the shaft component 102 and the hole component 101 is only one axial direction, so that the time required for assembly can be shortened. .

（２）予め、適切な移動量を定めておく手法
この手法は、距離δ１を予め決定しておく手法である。 (2) Method of determining an appropriate amount of movement in advance This method is a method of determining the distance δ1 in advance.

図７は、計測された方向が正確である場合に、軸部品及び孔の径の関係を示す平面図である。 FIG. 7 is a plan view showing the relationship between the shaft component and the diameter of the hole when the measured direction is accurate.

距離δ１の決定の仕方としては、例えば、以下の手法がある。すなわち、図７に示すように、孔１０３の内径をφＲ，軸部品１０２の外径をφｒとする。そして、１回めの挿入動作において、軸部品１０２が孔１０３の縁に引っかかり、当接状態になっているとする。 As a method of determining the distance δ1, for example, there are the following methods. That is, as shown in FIG. 7, the inner diameter of the hole 103 is φR, and the outer diameter of the shaft part 102 is φr. In the first insertion operation, it is assumed that the shaft component 102 is caught by the edge of the hole 103 and is in a contact state.

２回めの挿入動作に先だって、軸部品１０２と孔１０３とを相対移動させる場合、この移動量が大きすぎると、軸部品１０２が孔１０３の反対側にまで行き過ぎてしまい、挿入が行えない。軸部品１０２と孔１０３との相対移動量が、孔１０３の内径から軸部品１０２の外径を引いた値未満であれば、軸部品１０２が孔１０３を通り過ぎてしまうことはない。したがって、距離δ１は、以下のように定めることが望ましい。 When the shaft component 102 and the hole 103 are moved relative to each other prior to the second insertion operation, if the amount of movement is too large, the shaft component 102 goes too far to the opposite side of the hole 103, and the insertion cannot be performed. If the relative movement amount between the shaft component 102 and the hole 103 is less than the value obtained by subtracting the outer diameter of the shaft component 102 from the inner diameter of the hole 103, the shaft component 102 does not pass through the hole 103. Therefore, it is desirable to determine the distance δ1 as follows.

δ１＜φＲ−φｒ・・・（式６）
距離δ１について、この（式６）を満足しつつ、できるだけ大きな値に決定しておけば、最短時間で挿入操作を完了することができる。実際の芯ずれ量が決定した距離δ１よりも大きい場合には、軸部品１０２が孔１０３に距離δ１だけ近づいても挿入は完了しないが、このとき、再度、力センサ２による計測により方向θ１を計算し、移動操作を繰り返すことにより、挿入操作を完了することができる。 δ1 <φR−φr (Formula 6)
If the distance δ1 is determined to be as large as possible while satisfying this (Expression 6), the insertion operation can be completed in the shortest time. When the actual misalignment amount is larger than the determined distance δ1, the insertion is not completed even if the shaft component 102 approaches the hole 103 by the distance δ1, but at this time, the direction θ1 is again measured by the measurement by the force sensor 2. By calculating and repeating the move operation, the insert operation can be completed.

この場合にも、孔１０３の内縁部及び軸部品１０２の先端部の周縁部に面取りがなされており、かつ、ロボットアーム１がインピーダンス制御等をなされている場合には、面取面同士が当接すれば、挿入が可能である。この場合には、孔１０３は、面取り量だけ大きい内径とみなすことができ、また、軸部品１０２は、面取り量だけ細い外径とみなすことができる。 Also in this case, when the inner edge portion of the hole 103 and the peripheral edge portion of the tip end portion of the shaft component 102 are chamfered and the robot arm 1 is subjected to impedance control or the like, the chamfer surfaces are contacted with each other. If it touches, it can be inserted. In this case, the hole 103 can be regarded as an inner diameter that is larger by a chamfering amount, and the shaft component 102 can be regarded as an outer diameter that is thinner by a chamfering amount.

〔軸部品の当接位置の方向にも誤差が含まれることが想定される場合〕
さらに、力センサ２により計測される値が極めて小さな値である場合等には、モーメントＮｘ１，Ｎｙ１も正確に求められないことが想定される。この場合には、前述の（式５）で得られる方向θ１にも、誤差が含まれることが想定される。 [When it is assumed that the direction of the contact position of the shaft component also includes errors]
Furthermore, when the value measured by the force sensor 2 is extremely small, it is assumed that the moments Nx1 and Ny1 cannot be obtained accurately. In this case, it is assumed that the direction θ1 obtained by the above (Formula 5) also includes an error.

図９は、求められた方向θ１に誤差が含まれる場合に、軸部品１０２の当接位置が存在すると想定される領域を示す平面図である。 FIG. 9 is a plan view showing a region where the contact position of the shaft component 102 is assumed to exist when an error is included in the obtained direction θ1.

演算によって得られた方向θ１に含まれると想定される想定誤差をθｅとすると、軸部品１０２の当接位置は、図９に示すように、領域Θ、すなわち、方向（θ１−θｅ）乃至方向（θ１＋θｅ）の範囲内に存在する。 If the assumed error assumed to be included in the direction θ1 obtained by the calculation is θe, the contact position of the shaft component 102 is, as shown in FIG. 9, the region Θ, that is, the direction (θ1-θe) to the direction. It exists in the range of (θ1 + θe).

この場合にも、方向θ１に、予め決定した距離δ１だけ、孔部品１０１及び軸部品１０２を相対移動させることを繰り返せば、軸部品１０２の孔１０３への挿入操作を完了することができる。すなわち、方向θ１に距離δ１だけ移動した位置で挿入が完了しない場合には、再度、力センサ２による計測により方向θ１を計算し、移動操作を繰り返すことにより、挿入操作を完了することができる。この場合にも、ランダムな方向に移動操作をして再挿入を試みる従来の組立装置に比較して、短い時間で挿入動作を完了することができる。 Also in this case, if the relative movement of the hole component 101 and the shaft component 102 is repeated in the direction θ1 by a predetermined distance δ1, the operation of inserting the shaft component 102 into the hole 103 can be completed. That is, when the insertion is not completed at the position moved by the distance δ1 in the direction θ1, the insertion operation can be completed by calculating the direction θ1 again by measurement by the force sensor 2 and repeating the moving operation. Also in this case, the insertion operation can be completed in a shorter time compared to a conventional assembly apparatus that attempts to reinsert by moving in a random direction.

（１）軸部品１０２と孔部品１０１とを押接させたままで、当接位置をθ１方向に移動させる手法
この手法は、前述の特許文献２に記載された技術と同様に、距離δ１を決定することなく、軸部品１０２と孔部品１０１とを押接させたままで、これらを摺動させ、当接位置を領域Θ内で移動させて、孔１０３と軸部品１０２との芯が合致する位置を探し、軸部品１０２を孔１０３に挿入させるものである。 (1) A method of moving the contact position in the θ1 direction while keeping the shaft component 102 and the hole component 101 pressed against each other. This method determines the distance δ1 as in the technique described in Patent Document 2 described above. Without sliding, the shaft part 102 and the hole part 101 are kept in press contact with each other and slid to move the contact position within the region Θ so that the cores of the hole 103 and the shaft part 102 are aligned. And the shaft part 102 is inserted into the hole 103.

軸部品１０２と孔部品１０１とを押接させたままで移動させることが可能な場合には、この手法を採用することができる。なお、この手法においては、力センサ２の計測結果に誤差が含まれる場合の動作を想定しており、特許文献２に記載された技術と同程度の所要時間でロバスト(robust)な位置探索を行うことができる。 This method can be employed when the shaft component 102 and the hole component 101 can be moved while being pressed against each other. In this method, an operation in the case where an error is included in the measurement result of the force sensor 2 is assumed, and a robust position search is performed in the same time as the technique described in Patent Document 2. It can be carried out.

図１０は、計測された方向が正確ではない場合に、軸部品及び孔の径の関係を示す平面図である。 FIG. 10 is a plan view showing the relationship between the diameter of the shaft component and the hole when the measured direction is not accurate.

距離δ１の決定の仕方としては、例えば、以下の手法がある。すなわち、図１０に示すように、孔１０３の内径をφＲ，軸部品１０２の外径をφｒとする。そして、１回めの挿入動作において、軸部品１０２が孔１０３の縁に引っかかり、当接状態になっているとする。そして、計測された方向θ１には、想定誤差θｅが含まれているものとする。 As a method of determining the distance δ1, for example, there are the following methods. That is, as shown in FIG. 10, the inner diameter of the hole 103 is φR, and the outer diameter of the shaft part 102 is φr. In the first insertion operation, it is assumed that the shaft component 102 is caught by the edge of the hole 103 and is in a contact state. It is assumed that the measured direction θ1 includes an assumed error θe.

２回めの挿入動作に先だって、軸部品１０２と孔１０３とを相対移動させる場合、この移動量が大きすぎると、軸部品１０２が孔１０３の反対側にまで行き過ぎてしまい、挿入が行えない。軸部品１０２と孔１０３との相対移動量が、孔１０３の内径から軸部品１０２の外径を引いた値未満であり、さらに、想定誤差θｅを考慮すれば、軸部品１０２が孔１０３を通り過ぎてしまうことはない。このとき、軸部品１０２と孔１０３との芯ずれδｒの値は、（φＲ−φｒ）／２である。したがって、距離δ１は、以下のように定めることが望ましい。 When the shaft component 102 and the hole 103 are moved relative to each other prior to the second insertion operation, if the amount of movement is too large, the shaft component 102 goes too far to the opposite side of the hole 103, and the insertion cannot be performed. The relative movement amount of the shaft part 102 and the hole 103 is less than the value obtained by subtracting the outer diameter of the shaft part 102 from the inner diameter of the hole 103. Further, if the assumed error θe is taken into consideration, the shaft part 102 passes through the hole 103. There is no end to it. At this time, the value of the misalignment δr between the shaft component 102 and the hole 103 is (φR−φr) / 2. Therefore, it is desirable to determine the distance δ1 as follows.

δ１＜（φＲ−φｒ）×cos（θｅ）・・・（式７）
距離δ１について、この（式７）を満足していれば、方向θ１に想定誤差θｅが含まれていても軸部品１０２が孔１０３を通り過ぎることがなく、この範囲で距離δ１をできるだけ大きな値に決定しておけば、最短時間で挿入操作を完了することができる。なお、想定誤差θｅは、試験等により、予め想定しておく。 δ1 <(φR−φr) × cos (θe) (Expression 7)
If this (Expression 7) is satisfied for the distance δ1, the shaft component 102 will not pass through the hole 103 even if the assumed error θe is included in the direction θ1, and the distance δ1 is made as large as possible within this range. Once determined, the insertion operation can be completed in the shortest time. Note that the assumed error θe is assumed in advance by a test or the like.

実際の芯ずれ量が決定した距離δ１よりも大きい場合には、軸部品１０２が孔１０３に距離δ１だけ近づいても挿入は完了しないが、このとき、再度、力センサ２による計測により方向θ１を計算し、移動操作を繰り返すことにより、挿入操作を完了することができる。 When the actual misalignment amount is larger than the determined distance δ1, the insertion is not completed even if the shaft component 102 approaches the hole 103 by the distance δ1, but at this time, the direction θ1 is again measured by the measurement by the force sensor 2. By calculating and repeating the move operation, the insert operation can be completed.

図１１は、本発明に係る組立方法の手順の他の例を示すフローチャートである。 FIG. 11 is a flowchart showing another example of the procedure of the assembling method according to the present invention.

このような組立装置の動作をフローチャートより示すと、図１１に示すように、本発明に係る組立方法の手順を示すものとなり、すなわち、ステップｓｔ１０において、事前設定として、以下の計算をしておく。これにより、前述の（式７）による距離δ１の算出が可能となる。 When the operation of such an assembling apparatus is shown in the flowchart, as shown in FIG. 11, the procedure of the assembling method according to the present invention is shown. That is, in step st10, the following calculation is performed as a preset. . As a result, the distance δ1 can be calculated according to the above (Equation 7).

δ１＝（φＲ−φｒ）×cos（θｅ）・・・（式８）
そして、ステップｓｔ１１において動作を開始すると、ステップｓｔ１２に進み、挿入動作を開始する。次に、ステップｓｔ１３に進み、軸部品１０２の先端部と孔部品１０１とが当接したか否かを判断する。軸部品１０２の先端部と孔部品１０１とが当接したならばステップｓｔ１４に進み、軸部品１０２の先端部と孔部品１０１とが当接せず挿入操作が完了したならば、ステップｓｔ１７に進んで動作を終了する。 δ1 = (φR−φr) × cos (θe) (Equation 8)
Then, when the operation is started in step st11, the operation proceeds to step st12 and the insertion operation is started. Next, it progresses to step st13 and it is judged whether the front-end | tip part of the axial component 102 and the hole component 101 contact | abutted. If the tip part of the shaft part 102 and the hole part 101 contact each other, the process proceeds to step st14. If the tip part of the shaft part 102 does not contact the hole part 101 and the insertion operation is completed, the process proceeds to step st17. Ends the operation.

ステップｓｔ１４では、軸部品１０２の先端部と孔部品１０１との当接の瞬間のｘ軸及びｙ軸回りのモーメントＮｘ１，Ｎｙ１を計測し、ステップｓｔ１５に進む。ステップｓｔ１５では、前述の（式５）により、軸部品１０２と孔部品１０１との当接点の方向を算出し、ステップｓｔ１６に進む。ステップｓｔ１６では、ステップｓｔ５で算出された当接位置の方向及び（式７）に基づいて、孔部品１０１を座標（ｘ０−δ１×cos（θｅ），ｙ０−δ１×sin（θｅ））に移動操作し、ステップｓｔ１２に戻り、再度挿入動作を行う。 In step st14, moments Nx1 and Ny1 about the x-axis and y-axis at the moment of contact between the tip of the shaft part 102 and the hole part 101 are measured, and the process proceeds to step st15. In step st15, the direction of the contact point between the shaft part 102 and the hole part 101 is calculated by the above-described (Equation 5), and the process proceeds to step st16. In step st16, the hole component 101 is moved to the coordinates (x0−δ1 × cos (θe), y0−δ1 × sin (θe)) based on the direction of the contact position calculated in step st5 and (Expression 7). The operation is returned to step st12, and the insertion operation is performed again.

〔軸部品の当接位置の方向を４５°ずつの領域のいずれかとする方法〕
また、本発明においては、前述のようにして検出された各モーメントＮｘ１，Ｎｙ１に基づき、軸部品１０２の孔部品１０１への当接位置を、孔１０３の中心から全周を８つに等分した４５°ずつの領域のいずれに含まれているものとみなすようにしてもよい。 [Method of changing the direction of the contact position of the shaft component to any one of 45 ° regions]
Further, in the present invention, based on the moments Nx1 and Ny1 detected as described above, the contact position of the shaft component 102 with the hole component 101 is equally divided from the center of the hole 103 into eight. It may be considered that it is included in any of the 45 ° regions.

この方法は、Ｎｘ１、Ｎｙ１に閾値Ｎｅ（正の値）を設けて、簡易的に領域を判定するものである。 In this method, a threshold Ne (positive value) is provided for Nx1 and Ny1, and a region is simply determined.

(1) Ｎｘ１＞Ｎｅ、かつ、｜Ｎｙ１｜＜Ｎｅ
(2) Ｎｘ１＞Ｎｅ、かつ、Ｎｙ１＞Ｎｅ
(3)｜Ｎｘ１｜＜Ｎｅ、かつ、Ｎｙ１＞Ｎｅ
(4) Ｎｘ１＞−Ｎｅ、かつ、Ｎｙ１＞Ｎｅ
(5) Ｎｘ１＞−Ｎｅ、かつ、｜Ｎｙ１｜＜Ｎｅ
(6) Ｎｘ１＞−Ｎｅ、かつ、Ｎｙ１＞−Ｎｅ
(7)｜Ｎｘ１｜＜Ｎｅ、かつ、Ｎｙ１＞−Ｎｅ
(8) Ｎｘ１＞Ｎｅ、かつ、Ｎｙ１＞−Ｎｅ
孔１０３の中心からみた軸部品１０２の当接位置の方向を、(1)の場合には０°、(2)の場合には４５°、(3)の場合には９０°、(4)の場合には１３５°(5)の場合には１８０°、(6)の場合には２２５°、(7)の場合には２７０°、(8)の場合には３１５°とみなす。 (1) Nx1> Ne and | Ny1 | <Ne
(2) Nx1> Ne and Ny1> Ne
(3) | Nx1 | <Ne and Ny1> Ne
(4) Nx1> -Ne and Ny1> Ne
(5) Nx1> −Ne and | Ny1 | <Ne
(6) Nx1> -Ne and Ny1> -Ne
(7) | Nx1 | <Ne and Ny1> −Ne
(8) Nx1> Ne and Ny1> -Ne
The direction of the contact position of the shaft component 102 as viewed from the center of the hole 103 is 0 ° in the case of (1), 45 ° in the case of (2), 90 ° in the case of (3), (4) In the case of 135 ° (5), 180 °, in the case of (6) 225 °, in the case of (7) 270 °, and in the case of (8) 315 °.

そして、これらの方向に、予め決定した距離δ１だけ、孔部品１０１及び軸部品１０２を相対移動させることを繰り返せば、軸部品１０２の孔１０３への挿入操作を完了することができる。このとき、距離δ１だけ移動した位置で挿入が完了しない場合には、再度、力センサ２による計測により各モーメントＮｘ１，Ｎｙ１から上記に従って方向を判定し、移動操作を繰り返すことにより、挿入操作を完了することができる。この場合にも、ランダムな方向に移動操作をして再挿入を試みる従来の組立装置に比較して、短い時間で挿入動作を完了することができる。 Then, by repeatedly moving the hole component 101 and the shaft component 102 in these directions by a predetermined distance δ1, the operation of inserting the shaft component 102 into the hole 103 can be completed. At this time, if the insertion is not completed at the position moved by the distance δ1, the direction is determined again from the moments Nx1 and Ny1 by the measurement by the force sensor 2, and the insertion operation is completed by repeating the movement operation. can do. Also in this case, the insertion operation can be completed in a shorter time compared to a conventional assembly apparatus that attempts to reinsert by moving in a random direction.

また、この方法では、複雑な逆三角関数を用いず、単なる比較演算のみで方向を決定することができる。 Also, with this method, the direction can be determined by a simple comparison operation without using a complicated inverse trigonometric function.

距離δ１は、以下のように定めることが望ましい。 It is desirable to determine the distance δ1 as follows.

δ１＜（φＲ−φｒ）×cos（２２．５°）・・・（式９）
距離δ１について、この（式９）を満足していれば、軸部品１０２が孔１０３を通り過ぎることがなく、この範囲で距離δ１をできるだけ大きな値に決定しておけば、最短時間で挿入操作を完了することができる。 δ1 <(φR−φr) × cos (22.5 °) (Equation 9)
If this (Equation 9) is satisfied for the distance δ1, the shaft component 102 will not pass through the hole 103, and if the distance δ1 is determined to be as large as possible within this range, the insertion operation can be performed in the shortest time. Can be completed.

本発明に係る組立装置の構成を示す側面図である。It is a side view which shows the structure of the assembly apparatus which concerns on this invention. 本発明に係る組立装置の要部の構成を示す側面図である。It is a side view which shows the structure of the principal part of the assembly apparatus which concerns on this invention. 本発明に係る組立装置の構成を示すブロック図である。It is a block diagram which shows the structure of the assembly apparatus which concerns on this invention. 前記組立装置の倣い動作生成部の構成を示すブロック図である。It is a block diagram which shows the structure of the copying operation | movement production | generation part of the said assembly apparatus. 本発明に係る組立装置の構成の他の例を示すブロック図である。It is a block diagram which shows the other example of a structure of the assembly apparatus which concerns on this invention. 前記組立装置において、孔部品と軸部品との位置関係を示す平面図である。In the said assembly apparatus, it is a top view which shows the positional relationship of a hole component and a shaft component. 前記組立装置において、計測された方向が正確である場合に、軸部品及び孔の径の関係を示す平面図である。In the said assembly apparatus, when the measured direction is exact, it is a top view which shows the relationship between the diameter of a shaft component and a hole. 本発明に係る組立方法の手順を示すフローチャートである。It is a flowchart which shows the procedure of the assembly method which concerns on this invention. 前記組立装置において、求められた方向に誤差が含まれる場合に、軸部品の当接位置が存在すると想定される領域を示す平面図である。In the said assembly apparatus, when an error is contained in the calculated | required direction, it is a top view which shows the area | region assumed that the contact position of a shaft component exists. 前記組立装置において、計測された方向が正確ではない場合に、軸部品及び孔の径の関係を示す平面図である。In the said assembly apparatus, when the measured direction is not accurate, it is a top view which shows the relationship between the diameter of a shaft component and a hole. 本発明に係る組立方法の手順の他の例を示すフローチャートである。It is a flowchart which shows the other example of the procedure of the assembly method which concerns on this invention.

Explanation of symbols

１ロボットアーム
２力センサ
３制御手段
１０１孔部品
１０２軸部品
１０３孔 DESCRIPTION OF SYMBOLS 1 Robot arm 2 Force sensor 3 Control means 101 Hole component 102 Shaft component 103 Hole

Claims

An assembly method in which either a member provided with a hole or a rod-shaped member is gripped and moved to insert the rod-shaped member into the hole,
When the rod-shaped member is inserted into the hole, the translational force in the insertion direction received by the member provided with the hole when the tip of the rod-shaped member comes into contact with the peripheral portion of the hole, and Detect the moment around the axis perpendicular to this,
Performing a calculation based on the detected translational force and moment, calculating the direction and distance from the center of the hole of the contact position of the tip of the rod-shaped member,
According to the calculated direction and distance, either the member provided with the hole or the rod-like member is moved to insert the rod-like member into the hole.

Based on the detected moment, the direction of the contact position from the center of the hole is calculated, and in this direction, either the member provided with the hole or the rod-shaped member is replaced with the hole and the hole. The rod-shaped member is inserted into the hole by moving and operating a predetermined distance according to a diameter of the rod-shaped member and an assumed error included in the calculated direction, and repeating these operations. The assembly method according to claim 1.

Based on the detected moment, the direction of the contact position from the center of the hole is calculated, and in this direction, either the member provided with the hole or the rod-shaped member is replaced with the hole and the hole. The rod-shaped member is moved by a predetermined distance according to the diameter of the rod-shaped member, the assumed error included in the calculated direction, and the clearance between the hole and the rod-shaped member, and the rod-shaped member is repeated by repeating these operations. The assembly method according to claim 1, wherein a member is inserted into the hole.

Based on the detected moment, the direction of the contact position from the center of the hole is calculated, and which direction is included in each of the 45 ° regions obtained by equally dividing the entire circumferential direction into eight. In the center direction of the region where it is determined that the direction is included, either the member provided with the hole or the rod-shaped member, the diameter of the hole and the rod-shaped member, and the hole and 2. The assembling method according to claim 1, wherein the rod-shaped member is inserted into the hole by moving a predetermined distance according to a clearance between the rod-shaped members and repeating these operations. .

Gripping means for gripping and moving either a member provided with a hole or a rod-shaped member and inserting the rod-shaped member into the hole;
When the gripping means tries to insert the rod-shaped member into the hole, the insertion direction received by the member provided with the hole when the tip of the rod-shaped member comes into contact with the peripheral portion of the hole Detecting means for detecting the translational force and the moment about the axis perpendicular thereto,
A control unit that performs a calculation based on the translational force and the moment detected by the detection unit, and controls the operation of the gripping unit according to the calculation result.
The control means calculates the direction and distance from the center of the hole of the contact position of the tip of the rod-like member based on the translational force and moment detected by the detection means, and according to the direction and distance. The assembly apparatus is characterized in that either the member provided with the hole or the rod-shaped member is operated to move, and the rod-shaped member is inserted into the hole.

The control means calculates a direction of the contact position from the center of the hole based on the moment detected by the detection means, and a member provided with the hole in this direction or the rod-shaped member Is moved by a predetermined distance according to the diameter of the hole and the rod-shaped member and the assumed error included in the calculated direction, and the rod-shaped member is repeated by repeating these operations. The assembly apparatus according to claim 5, wherein the assembly is inserted into the hole.

The control means performs impedance control in controlling the operation of the gripping means, and calculates a direction from the center of the hole at the contact position based on the moment detected by the detection means. Any one of the member provided with the hole or the rod-shaped member, the diameter of the hole and the rod-shaped member, the assumed error included in the calculated direction, and the clearance between the hole and the rod-shaped member, 6. The assembling apparatus according to claim 5, wherein the rod-shaped member is inserted into the hole by performing a moving operation by a predetermined distance according to the operation and repeating these operations.

The control means performs impedance control in controlling the operation of the gripping means, and calculates a direction from the center of the hole at the contact position based on the moment detected by the detection means. Is determined to be included in each of the 45 ° regions obtained by equally dividing the entire circumferential direction into eight, and the hole is provided in the central direction of the region determined to include the direction. Either the member or the rod-shaped member is operated to move by a predetermined distance according to the diameter of the hole and the rod-shaped member and the clearance between the hole and the rod-shaped member, and these operations are performed. The assembly apparatus according to claim 5, wherein the rod-shaped member is inserted into the hole by repeating.

Fixing and supporting the rod-shaped member,
The gripping means grips a member provided with the hole,
The assembly device according to any one of claims 5 to 8, wherein the detection unit is provided in the gripping unit.