JPH071258A - Work assembly method - Google Patents

Abstract

PURPOSE:To absorb displacement of the reference hole of a work and to perform accurate assembly by a method wherein a compliance unit which is designed to have the degree of freedom on an x y plane and be capable of being fixed in a position in the x y plane is mounted on the tip of a robot. CONSTITUTION:A compliance unit 1 is fixed at the center of a robot tip shaft 20 and a registering hand 3 is mounted on an auto tool changer 2, and reference hole position data when a column part 31 is inserted in the reference hole 6 of the work 5 is measured. The registering hand 3 is exchanged into a robot hand 4 to measure assembly position data. During actual assembly, the compliance unit is brought into a free state on an xy plane, the registering hand 3 is mounted, and a robot is moved according to the reference hole position data. In this case, the compliance unit 1 is securely positioned within the xy plane so that the tip of the registering hand 3 is inserted in the reference hole 6. Thereafter, the hand is exchanged into a robot hand 4 to effect assembly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work assembling method, and more particularly to a work assembling method for correcting a work position deviation.

[0002]

2. Description of the Related Art In the conventional method of assembling a work, an actual flat blade 2
As shown in Japanese Patent Publication No. 51091 and shown in FIG. 2, the robot is attached to the tip of the robot, has a degree of freedom in the xy plane, and has an xy
A compliance unit 8 that can be fixed at a certain position within a plane, a robot hand 9 that is necessary for assembling a work, an assembly part 10, and a work 11 are used.

First, the assembly hand 10 is held by the robot hand 9, and the compliance unit 8 frees the xy plane, and the assembly work 10 is attached to the work 11. At this time, even if the assembly part 10 held by the robot hand 9 and the assembly hole 12 of the work 11 are deviated to some extent, the assembly part 10 is moved in the xy plane due to the degree of freedom of the compliance unit 8. Work inside 11
It is inserted along the assembling hole 12 of.

[0004]

In the above-described conventional work assembly method, since the parts to be assembled are inserted along the holes of the work, the shape of the assembled parts is limited to the tapered one. There is a problem.

[0005]

According to the method of assembling a work of the present invention, the compliance unit is fixed at the center of the robot tip axis, the alignment hand is attached to the auto tool changer, and the cylindrical portion is inserted into the reference hole of the work. Then, the reference hole position data at the time of the measurement is measured, then the positioning hand is replaced with a robot hand, the assembly position data regarding the assembly is measured, and the compliance unit is set in a free state in the xy plane. And move the robot according to the reference hole position data. At this time, the compliance unit is positioned and fixed in the xy plane so that the tip of the alignment hand is inserted into the reference hole, After that, the hand is replaced with the robot hand, and assembly is performed.

The work assembling apparatus of the present invention is attached to the tip of a robot, has a degree of freedom in the xy plane, and can be fixed at a certain position in the xy plane, and a compliance unit attached to the compliance unit. An automatic tool changer capable of exchanging another robot hand, a positioning hand having a cylindrical portion having substantially the same diameter as a reference hole formed in a work, and a robot hand for assembling the work are characterized. .

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing an embodiment of the present invention. In this embodiment, the robot tip 20 is mounted and x
A compliance unit 1 that has the freedom of the y plane and can be fixed at a certain position of the xy plane, and an auto tool changer that is attached to the tip of the compliance unit 1 and can be replaced with a robot hand 4 for each application. 2, a positioning hand 3 having a cylindrical portion 31 having substantially the same diameter as the reference hole 6 formed in the work 5, and a robot hand 4 necessary for assembling the work are used.

First, the compliance unit 1 is fixed at the center of the robot tip axis, the alignment hand 3 is attached to the auto tool changer 2, and its cylindrical portion 31 is attached.
The reference hole position data when the is inserted into the reference hole 6 of the work 5 is measured, and then the positioning hand 3 is replaced with the robot hand 4, and the assembly position data regarding the assembly is measured.

Next, the actual assembly will be described. The compliance unit 1 is set free in the xy plane, the positioning hand 3 is attached, and the robot is moved according to the reference hole position data. At this time, the compliance unit 1 is positioned and fixed in the xy plane so that the tip of the alignment hand 3 is inserted into the reference hole 6. After that, the hand is replaced with the robot hand 4, and the assembly is performed.

[0011]

As described above, according to the present invention, since the deviation of the reference hole of the work is absorbed by the compliance unit, the deviation amount is reflected also in other assembly positions.
The effect is that it can be applied to any parts assembly.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention.

FIG. 2 is a side view of a conventional example.

[Explanation of symbols]

 1 Compliance Unit 2 Auto Tool Changer 3 Positioning Hand 4 Robot Hand 5 Work 6 Reference Hole 8 Compliance Unit 9 Robot Hand 20 Robot Tip 31 Cylindrical Part

Claims (2)

[Claims] 1. A compliance unit is fixed at the center of a robot tip axis, a positioning hand is attached to an auto tool changer, and reference hole position data when the cylindrical portion is inserted into a reference hole of a work is measured, After that, replace the alignment hand with a robot hand,
Assembling position data regarding assembly is measured, the compliance unit is set in a free state in the xy plane, the positioning hand is attached, and the robot is moved according to the reference hole position data. At this time, the tip of the positioning hand is moved. So as to be inserted into the reference hole, the compliance unit is positioned and fixed in the xy plane, and then the hand is replaced with the robot hand to perform assembly. 2. A compliance unit attached to the tip of a robot, having a degree of freedom in the xy plane, and capable of being fixed at a certain position in the xy plane, and a robot hand for each application attached to the compliance unit, which can be replaced. A work assembling apparatus comprising: an auto tool changer which is possible, an alignment hand having a cylindrical portion having substantially the same diameter as a reference hole formed in a work, and a robot hand for assembling a work.