JP2003127081A - Assembly robot and part assembly method using the same - Google Patents
Assembly robot and part assembly method using the sameInfo
- Publication number
- JP2003127081A JP2003127081A JP2001321140A JP2001321140A JP2003127081A JP 2003127081 A JP2003127081 A JP 2003127081A JP 2001321140 A JP2001321140 A JP 2001321140A JP 2001321140 A JP2001321140 A JP 2001321140A JP 2003127081 A JP2003127081 A JP 2003127081A
- Authority
- JP
- Japan
- Prior art keywords
- hand
- component
- fitting
- slip
- fitting component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この出願の発明は、製品の組立お
よび分解に使用するロボット、及び嵌合部品の被嵌合部
品の穴への挿入と引抜きを行う組立ロボットを用いた組
立方法に関するものであり、組み付ける部品からの反力
を受けながら組立や分解作業を行うロボットおよび組立
分解方法に応用することができ、無理無く、かつ確実に
部品組付動作を予定どおりに完了することができるもの
である。BACKGROUND OF THE INVENTION 1. Field of the Invention The invention of the present application relates to a robot used for assembling and disassembling a product, and an assembling method using an assembling robot for inserting and withdrawing a fitting component into a hole of a fitted component. It can be applied to a robot and an assembling / disassembling method that perform assembly and disassembly while receiving a reaction force from the parts to be assembled, and can reasonably and reliably complete the parts assembly operation as scheduled. Is.
【０００２】[0002]
【従来の技術】従来、嵌合部品を被嵌合部品の穴へ挿入
する作業、また引抜く作業を自動化する場合、ロボット
アーム先端部に設けたハンドにより所定の把持力で嵌合
部品を把持し、アームとハンドの接続部分あるいはハン
ドの指部分に弾性機構もしくは仮想弾性機構によるコン
プライアンス特性を備えさせ、挿入あるいは引抜き作業
時の作業反力により嵌合部品と被嵌合部品の軸の位置と
方向を合わせて嵌合させる方法や、上記の構成に加え
て、アームとハンドの接続部分に直行する３軸方法の並
進力と軸周りのモーメントを検出できる６軸センサを設
けて作業反力を検出し、想定される挿入あるいは引抜き
方向以外の並進力やモーメントが発生しないようにアー
ムを制御することで嵌合部品と被嵌合部品の穴の位置と
方向を合わせて嵌合作業を行わせる方法が採用されてい
る。しかし、嵌合部品や被嵌合部品の加工寸法精度のば
らつきや微妙な嵌合状態の変化により、挿入あるいは引
抜きに必要な力は大きく変化する。このため、上記の方
法で嵌合部品と被嵌合部品の穴の位置と方向をある程度
正確に合わせても、組立作業を行う際、ハンドと嵌合部
品との間で滑りが生じたり、つまりが発生して、嵌合作
業が予定通りには完了しない場合があるという問題があ
る。なお、上記の「つまり」は嵌合部品が被嵌合部品の
穴に突っ掛かってしまって、押し込み不能になった状態
を意味する。2. Description of the Related Art Conventionally, when the work of inserting a fitting part into a hole of a fitted part or the work of pulling it out is automated, the fitting part is gripped with a predetermined gripping force by a hand provided at the tip of a robot arm. However, the connection between the arm and the hand or the finger part of the hand is provided with compliance characteristics by the elastic mechanism or the virtual elastic mechanism, and the axial position of the mating component and the mated component can be adjusted by the reaction force during the insertion or extraction work. In addition to the method of fitting in the same direction, and in addition to the above configuration, a 6-axis sensor that can detect the translational force and the moment around the axis of the 3-axis method that goes straight to the connecting part of the arm and the hand is provided to reduce the work reaction force. Detecting and controlling the arm so that translational force or moment other than the expected insertion or withdrawal direction is not generated, and match the position and direction of the holes of the mated parts and mated parts How to carry out the work has been adopted. However, the force required for insertion or withdrawal changes greatly due to variations in the machining dimensional accuracy of the fitting parts and the fitted parts and subtle changes in the fitting state. Therefore, even if the positions and the directions of the holes of the fitting component and the fitted component are accurately aligned to each other by the above-described method, a slip occurs between the hand and the fitting component during the assembly work, that is, However, there is a problem that the fitting work may not be completed as scheduled. In addition, the above-mentioned "clog" means a state in which the fitting component is caught in the hole of the fitted component and cannot be pushed.
【０００３】後者の問題を解決するために、特開平１１
−１２３６８３号公報に記載されたものにおいては、嵌
合部品を被嵌合部品の穴に挿入する際に、つまりが生じ
たときに嵌合部品を一旦引抜き、その後、再度挿入作業
を行う方式を採用している。上記公開公報に記載された
従来技術においては、アプローチ開始位置から速度およ
び力を制御しながら設定アプローチ方向に嵌合部品を移
動させ、嵌合部品と被嵌合部品が接触しその反力が設定
値を越えると、設定された目標速度、目標力で嵌合挿入
方向に嵌合部品を速度および力で移動させて嵌合させ
る。嵌合が完了する前につまりが生じると、設定された
引抜き目標力によって嵌合部品を被嵌合部品から引抜
く。設定時間内に嵌合作業が完了しないか、力誤差が所
定の範囲内を超えた場合に「つまり有り」と判断してい
る。しかしながら、ハンドと嵌合部品の間に滑りが生じ
ている場合、アームが所定の動作を完了しても所望の挿
入量や引抜き量に達せず嵌合作業が不完全になってしま
う。In order to solve the latter problem, Japanese Unexamined Patent Publication No. Hei 11
In the one disclosed in Japanese Patent No. 123683, when the fitting component is inserted into the hole of the fitted component, when the clogging occurs, the fitting component is temporarily pulled out, and then the insertion work is performed again. It is adopted. In the prior art described in the above publication, the fitting component is moved in the set approach direction while controlling the speed and force from the approach start position, and the fitting component and the fitted component come into contact with each other to set the reaction force. When the value exceeds the value, the fitting component is moved in the fitting insertion direction at the set target speed and target force at the speed and force to be fitted. If clogging occurs before the fitting is completed, the fitting component is pulled out from the fitted component by the set pulling-out target force. When the fitting work is not completed within the set time or the force error exceeds the predetermined range, it is determined as "that is". However, if there is slippage between the hand and the fitting component, the fitting operation will be incomplete because the arm does not reach the desired insertion amount or withdrawal amount even if the arm completes a predetermined operation.
【０００４】[0004]
【解決しようとする課題】そこで、本発明は、ハンドと
嵌合部品間の滑りが発生しても、確実に嵌合部品の挿入
動作あるいは引抜き動作を行える組立ロボットとその組
立方法を工夫することをその課題とするものである。SUMMARY OF THE INVENTION Therefore, the present invention is to devise an assembling robot and an assembling method thereof which can surely perform an inserting operation or a withdrawing operation of a fitting component even if a slip occurs between the hand and the fitting component. Is the task.
【０００５】[0005]
【解決手段１】解決手段１は、ロボットアームの先端に
設けたハンドで嵌合部品を把持し、被嵌合部品に該嵌合
部品を挿入する作業あるいは嵌合部品を被嵌合部品の穴
から引抜く作業を行う組立ロボットによる部品組立方法
について、ハンドと嵌合部品との接触部分に滑りが発生
した際に把持位置を修正することで、ハンドと嵌合部品
の滑りが発生しても確実に嵌合部品の挿入動作あるいは
引抜き動作を行えるようにしたことである。SOLUTION 1 A solution 1 is a work of gripping a fitting component with a hand provided at a tip of a robot arm and inserting the fitting component into the fitted component or a hole of the fitting component in the fitting component. Regarding the part assembly method by the assembly robot that pulls out from the machine, even if slipping between the hand and the fitting part occurs by correcting the grip position when the contact part between the hand and the fitting part slips. That is, the insertion operation or the extraction operation of the fitting component can be reliably performed.
【０００６】[0006]
【解決手段２】解決手段２は、ロボットアームの先端に
設けたハンドで嵌合部品を把持し、被嵌合部品に上記嵌
合部品を挿入する作業、あるいは上記嵌合部品を被嵌合
部品の穴から引抜く作業を行う組立ロボットによる部品
組立方法について、上記ハンドと嵌合部品の接触部分の
滑り量が設定値より大きくなった際に把持位置を修正す
ることで、ハンドと嵌合部品の滑りが発生しても確実に
嵌合部品の挿入動作あるいは引抜き動作を行えるように
したことである。SOLUTION: A solving means 2 is a work of gripping a fitting component with a hand provided at the tip of a robot arm and inserting the fitting component into the fitted component, or the fitting component being the fitted component. Regarding the part assembly method by the assembly robot that pulls out from the hole of the hand, the hand and the fitting part are corrected by correcting the gripping position when the sliding amount of the contact part of the hand and the fitting part becomes larger than the set value. Even if the slip occurs, it is possible to reliably perform the insertion operation or the withdrawal operation of the fitting component.
【０００７】[0007]
【解決手段３】解決手段３は、解決手段１又は解決手段
２の部品組立方法において、把持位置修正後の把持力を
修正前の把持力よりも強くすることで、確実に嵌合部品
の挿入動作あるいは引抜き動作を行うようにしたことで
ある。SOLUTION: In the component assembling method of the solving means 1 or the solving means 3, the solving means 3 surely inserts the fitting component by making the gripping force after the correction of the gripping position stronger than the gripping force before the correction. That is, the operation or the withdrawal operation is performed.
【０００８】[0008]
【解決手段４】解決手段４は、解決手段３の組立方法に
おいて、挿入動作の際に、あらかじめ設定した最大把持
力で嵌合部品を把持してもなお滑りが発生した場合、上
記嵌合部品を一旦引抜き、その後、再度挿入作業をやり
なおすことで、確実に嵌合部品の挿入動作を行うように
したことである。SOLUTION: In the assembling method of the solving means 3, when the fitting component is gripped with a preset maximum gripping force and a slip still occurs during the inserting operation, the fitting component This means that the insertion operation of the fitting component is surely performed by once pulling out and then performing the insertion work again.
【０００９】[0009]
【解決手段５】解決手段５は、ロボットアームの先端に
設けたハンドで嵌合部品を把持し作業を行う組立ロボッ
トについて、上記ハンドと嵌合部品の滑りを検出する滑
り検出手段を備えることで、ハンドと嵌合部品の滑りが
発生しても、確実に嵌合部品の挿入動作あるいは引抜き
動作を行うようにしたことである。SOLUTION: A solution means 5 is provided with a slip detecting means for detecting a slip between the hand and the fitting part in an assembly robot which holds a fitting part with a hand provided at a tip of a robot arm to perform work. That is, even if the hand and the fitting component slip, the fitting component is surely inserted or pulled out.
【００１０】[0010]
【解決手段６】解決手段６は、解決手段５の組立ロボッ
トにおいて、ハンドの把持力検出手段を備えることで、
確実に嵌合部品の挿入動作あるいは引抜き動作を行うよ
うにした組立ロボットであることである。SOLUTION: The solving means 6 is the assembly robot of the solving means 5, and is provided with a hand gripping force detecting means,
That is, the assembling robot surely performs the inserting operation or the extracting operation of the fitting component.
【００１１】[0011]
【解決手段７】解決手段７は、解決手段５における滑り
検出手段が、上記ハンドに前記嵌合部品が把持された状
態でその全体あるいは一部が撮影可能な位置に設けられ
た小型ＣＣＤカメラと、該ＣＣＤカメラの出力信号から
画像処理により該ハンドと該嵌合部品の相対位置を演算
する画像処理手段とによるものであり、上記ハンドと嵌
合部品の滑りが発生しても、確実に嵌合部品の挿入動作
あるいは引抜き動作を行うようにしたことである。SOLUTION: A slip detecting means in the solving means 5 is a small CCD camera provided at a position where the whole or a part of the hand can be photographed in a state where the fitting component is held by the hand. The image processing means for calculating the relative position of the hand and the fitting component by image processing from the output signal of the CCD camera ensures reliable fitting even if the hand and the fitting component slip. This is to perform the inserting operation or the extracting operation of the combined parts.
【００１２】[0012]
【解決手段８】解決手段８は、解決手段５における滑り
検出手段が、上記ハンドの爪表面に設けられた分布式触
覚センサと、該分布式触覚センサの出力信号に基づいて
上記ハンドと嵌合部品の滑りを演算する滑り演算手段と
であり、ハンドと嵌合部品の滑りが発生しても嵌合部品
の挿入動作あるいは引抜き動作を行うようにしたことで
ある。SOLUTION 8 In the solution 8, the slip detecting means in the solution 5 is fitted to the hand based on the distributed tactile sensor provided on the surface of the nail of the hand, and the output signal of the distributed tactile sensor. The slip calculating means calculates the slip of the parts, and the insertion operation or the withdrawal operation of the fitting parts is performed even if the hand and the fitting parts slip.
【００１３】[0013]
【解決手段９】解決手段９は、解決手段７の組立ロボッ
トにおいて、画像処理手段で算出されたハンドと嵌合部
品の相対位置情報に基づいてロボットアームの修正指令
を演算する修正指令生成手段を備えることで、上記ハン
ドと嵌合部品の滑りが発生しても嵌合部品の挿入動作あ
るいは引抜き動作を行うようにしたことである。SOLUTION: In the assembly robot of the solving means 7, the solving means 9 includes a correction command generating means for calculating a correction command of the robot arm based on the relative position information of the hand and the fitting component calculated by the image processing means. With this, even if the hand and the fitting component are slipped, the fitting component is inserted or pulled out.
【００１４】[0014]
【解決手段１０】解決手段１０は、解決手段８の組立ロ
ボットにおいて、滑り演算手段で算出された滑り情報に
基づいてロボットアームの修正指令を演算する修正指令
生成手段を備えることで、上記ハンドと嵌合部品の滑り
が発生しても嵌合部品の挿入動作あるいは引抜き動作を
行うようにしたことである。SOLUTION: The solving means 10 includes, in the assembly robot of the solving means 8, a correction command generating means for calculating a correction command for the robot arm based on the slip information calculated by the slip calculating means, whereby Even if the fitting component slips, the fitting component is inserted or pulled out.
【００１５】[0015]
【作用】以上の解決手段１乃至解決手段１０の作用は、
次の実施の形態の記載、発明の効果の記載において明ら
かにする。The operation of the above solving means 1 to 10 is as follows.
It will be clarified in the description of the following embodiments and the effect of the invention.
【００１６】[0016]
【実施の形態】次いで、図面を参照してこの発明の実施
例を説明する。ハンド１はアーム４の先端に設けられて
おり、嵌合部品（この例ではピン）２を把持して、アー
ム４の動作により嵌合部品２を被嵌合部品（この例で
は、製品筐体）３の穴３ａに挿入する。この実施例にお
いては、ハンド１とアーム４との接続部分に備えた６軸
センサの検出値により、挿入方向以外の並進力やモーメ
ントが発生しないようにアームを力制御して、嵌合部品
２と被嵌合部品３の穴３ａの中心を合わせて、嵌合部品
２を穴３ａに挿入する。図１（ｂ）に挿入途中の状態を
示しているが、この状態で、嵌合部品２と被嵌合部品３
の穴３ａの寸法精度のばらつきなどのために挿入反力が
大きくなると、ハンド１と嵌合部品２の接触部分で滑り
が生じる（図１（ｃ））。このままハンド１の把持力を
大きくして挿入動作を続けても、ハンド１の爪が被嵌合
部品３と干渉してしまうので所定の挿入動作を完了する
ことはできない。そこで、図１（ｄ）に示すように、ハ
ンド１による嵌合部品２の把持を一旦解除し、滑りが生
じる前の位置までハンド１を戻してから再度嵌合部品２
を把持させる（図１（ｅ））。この時、ハンド１の把持
力を大きくすることで、大きな挿入反力に対しても嵌合
部品２を上記穴３ａに挿入することが可能になる。この
実施例においては滑りが生じた際に把持位置の修正を行
っているが、挿入量や引抜き量が小さい場合などは、滑
り量が例えば０．１ｍｍ等の所定値を超えた際に、滑り
ありと判断して把持位置の修正を行うようにしてもよ
い。そして、図１（ｆ）に示すように、アーム４により
ハンドを所定の押込み量だけ移動させることで挿入動作
が完了する。上記のように、滑りが発生する度に把持位
置を修正して嵌合作業を繰り返すが、予め嵌合部品を損
傷しない程度に最大把持力を設定しておき、限界把持力
で把持した時にもなお滑りが発生した場合は、そこで挿
入動作を引抜き動作に切り替えて、一旦嵌合部品２を引
抜いた状態から再度挿入動作を再開する。なお、ハンド
１の爪による嵌合部品の把持力をどのように増大させる
かは、個々の組立作業の如何によるが、例えば数％程度
増大させることを基本として、段々に把持力を増大させ
る。このようにすることで、２〜３回の繰り返しによっ
てほとんど嵌合作業が完了される。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the drawings. The hand 1 is provided at the tip of the arm 4, grips the fitting component (pin in this example) 2, and moves the fitting component 2 by the operation of the arm 4 into the fitted component (product casing in this example). ) 3 into the hole 3a. In this embodiment, the force of the arm is controlled by the detection value of the 6-axis sensor provided at the connecting portion between the hand 1 and the arm 4 so that translational force or moment other than the insertion direction is not generated, and the fitting component 2 And the center of the hole 3a of the fitting target component 3 are aligned with each other, and the fitting component 2 is inserted into the hole 3a. FIG. 1B shows a state in the middle of insertion, and in this state, the fitting component 2 and the fitted component 3
If the insertion reaction force becomes large due to variations in the dimensional accuracy of the holes 3a, slippage occurs at the contact portion between the hand 1 and the fitting component 2 (FIG. 1 (c)). Even if the gripping force of the hand 1 is increased and the insertion operation is continued as it is, the predetermined insertion operation cannot be completed because the claw of the hand 1 interferes with the fitted component 3. Therefore, as shown in FIG. 1D, once the grip of the fitting component 2 by the hand 1 is released, the hand 1 is returned to the position before the slip occurs, and then the fitting component 2 is again pressed.
Is grasped (FIG. 1 (e)). At this time, by increasing the gripping force of the hand 1, the fitting component 2 can be inserted into the hole 3a even with a large insertion reaction force. In this embodiment, the gripping position is corrected when slippage occurs. However, when the insertion amount or the withdrawal amount is small, the slippage exceeds the predetermined value such as 0.1 mm, the slippage occurs. It may be determined that the grip position is correct. Then, as shown in FIG. 1 (f), the insertion operation is completed by moving the hand by the predetermined pushing amount by the arm 4. As described above, the gripping position is corrected every time slippage occurs, and the fitting operation is repeated.However, even when the gripping force is set to the maximum gripping force so that the fitting parts are not damaged in advance, the gripping position is set. When slippage occurs, the insertion operation is switched to the extraction operation there, and the insertion operation is restarted from the state where the fitting component 2 is once extracted. It should be noted that how to increase the gripping force of the fitting component by the claw of the hand 1 depends on the individual assembling work, but the gripping force is gradually increased based on, for example, about several%. By doing so, the fitting work is almost completed by repeating the process a few times.
【００１７】ハンド１をその先端に備えているアーム４
が、嵌合部品２と被嵌合部品３の穴３ａの中心を合わせ
ながらハンド１を移動させることで、嵌合部品２の嵌合
（挿入）作業あるいは引抜き作業を行う。ハンド１には
把持した部品が撮影できる位置にＣＣＤカメラ５が設け
られている。このＣＣＤカメラ５の出力信号を画像処理
手段６で処理することでハンド１と嵌合部品２の相対位
置が判別される。さらに、滑りが生じる前の相対位置と
検出される相対位置を比較することによって、ハンド１
と嵌合部品２の滑り量と滑り方向が検出される。検出さ
れた滑り量と滑り方向に基づいて修正指令生成手段７に
より把持位置を修正するためのアーム４の動作とハンド
１の開閉動作の指令信号が演算される。この指令信号に
よって、ロボット制御手段８がアーム４を移動させ、ハ
ンド制御手段９がハンド１を開閉動作させて、把持位置
を修正するとともに、前回よりも強い把持力（例えば数
％増）で嵌合部品２を把持させる。ハンド１はその爪に
把持力検出手段１０を備えており、この把持力検出手段
１０からの信号に基づいてハンド制御手段９がハンド１
の把持力を制御する。なお、ハンド１と嵌合部品２の相
対位置の判別、ハンド１と嵌合部品２の滑り量と滑り方
向の検出はおおよそ次のようになされる。すなわち、Ｃ
ＣＤカメラからの出力信号により、作業前に把持したワ
ークの大きさと重心位置を求めておく。作業中のＣＣＤ
カメラ出力信号から同様にワークの大きさと重心位置を
求めて作業前と比較する。これにより、大きさの変化率
からＣＣＤカメラの光軸方向の滑り量、重心位置の移動
方向と移動量から光軸以外の滑り方向と滑り量を検出す
る。An arm 4 having a hand 1 at its tip
However, by moving the hand 1 while aligning the centers of the holes 3a of the fitting component 2 and the fitted component 3, the fitting (inserting) work or the withdrawing work of the fitting component 2 is performed. The hand 1 is provided with a CCD camera 5 at a position where the grasped parts can be photographed. By processing the output signal of the CCD camera 5 by the image processing means 6, the relative position between the hand 1 and the fitting component 2 is determined. Further, by comparing the detected relative position with the relative position before slippage, the hand 1
And the sliding amount and the sliding direction of the fitting component 2 are detected. Based on the detected slip amount and slip direction, the correction command generation means 7 calculates command signals for the operation of the arm 4 for correcting the grip position and the opening / closing operation of the hand 1. In response to this command signal, the robot control means 8 moves the arm 4 and the hand control means 9 opens and closes the hand 1 to correct the gripping position, and with a stronger gripping force (for example, a few percent increase) than the previous time. The combined component 2 is gripped. The hand 1 has a gripping force detection means 10 on its claw, and the hand control means 9 causes the hand 1 to operate based on a signal from the gripping force detection means 10.
Control the gripping force of. The determination of the relative position of the hand 1 and the fitting component 2 and the detection of the slip amount and the sliding direction of the hand 1 and the fitting component 2 are performed as follows. That is, C
From the output signal from the CD camera, the size and the position of the center of gravity of the work held before the work are obtained. CCD during work
Similarly, the size of the work and the position of the center of gravity are obtained from the camera output signal and compared with that before the work. Thus, the amount of slip in the optical axis direction of the CCD camera is detected from the rate of change in size, and the sliding direction and the amount of slip other than the optical axis are detected from the moving direction and moving amount of the center of gravity.
【００１８】図３に組立ロボットの他の構成例を示して
いる。ハンド１はアーム４の先端に備えられており、ア
ーム４が嵌合部品と被嵌合部品の穴３ａの中心を合わせ
ながらハンド１を移動させることで嵌合（挿入）作業あ
るいは引抜き作業を行う。ハンド１の爪の表面には分布
式接触センサ２０が備えられている。分布式接触センサ
２０は嵌合部品２とハンド１の爪の接触領域がわかる。
接触領域の時間的な変化に基づいて、滑り演算手段２１
によりハンド１と嵌合部品２の滑り量と滑り方向を検出
する。検出された滑り量と滑り方向から修正指令生成手
段７により把持位置を修正するためのアーム４の動作と
ハンド１の開閉動作の指令信号が演算される。この指令
信号によってロボット制御手段８がアーム４を移動さ
せ、ハンド制御手段９がハンド１を開閉動作させ、把持
位置が修正し、かつ前回よりも強い把持力で嵌合部品２
を把持させる。ハンド１は爪に把持力検出手段１０を備
えており、把持力検出手段１０からの検出信号に基づき
ハンド制御手段９がハンド１の把持力を制御する。な
お、分布式接触センサ２０による接触領域及びその時間
的変化からの滑り方向及び滑り量の検出は、おおよそ次
のようにして成される。すなわち、分布式接触センサか
らの出力信号により、作業前に把持したワークの接触部
分の輪郭あるいは重心を求めておく。作業中の分布式接
触センサからの出力信号から同様にワークの接触部分の
輪郭あるいは重心を求めて作業前と比較する。これによ
り、接触部分の移動方向と移動量から滑り方向と滑り量
を検出する。FIG. 3 shows another configuration example of the assembly robot. The hand 1 is provided at the tip of the arm 4, and the arm 4 moves the hand 1 while aligning the centers of the holes 3a of the fitting component and the fitted component to perform the fitting (inserting) work or the withdrawing work. . A distributed contact sensor 20 is provided on the surface of the nail of the hand 1. In the distributed contact sensor 20, the contact area between the fitting component 2 and the claw of the hand 1 can be known.
The slip calculation means 21 is based on the temporal change of the contact area.
The slip amount and the slip direction of the hand 1 and the fitting component 2 are detected by. Based on the detected slip amount and slip direction, the command signal for the operation of the arm 4 for correcting the gripping position and the opening / closing operation of the hand 1 are calculated by the correction command generating means 7. The robot control means 8 moves the arm 4 by this command signal, the hand control means 9 opens and closes the hand 1, the gripping position is corrected, and the fitting component 2 is gripped with a stronger gripping force than the previous time.
To hold. The hand 1 is provided with a gripping force detection means 10 on the claw, and the hand control means 9 controls the gripping force of the hand 1 based on a detection signal from the gripping force detection means 10. The distributed contact sensor 20 detects the contact direction and the amount of slip from the contact area and its change over time in the following manner. That is, the contour or the center of gravity of the contact portion of the work gripped before the work is obtained from the output signal from the distributed contact sensor. Similarly, the contour or the center of gravity of the contact portion of the work is obtained from the output signal from the distributed contact sensor during work and compared with that before work. As a result, the sliding direction and the sliding amount are detected from the moving direction and the moving amount of the contact portion.
【００１９】[0019]
【発明の効果】この発明の効果は、各請求項毎に次のと
おりに整理される。
１．請求項１に係る発明の効果
ハンドと嵌合部品との接触部分に滑りが発生した際に把
持位置を修正することにより、ハンドが嵌合部品の所定
の把持位置を常に把持するためロボットアームの所定の
動作により、所望の挿入量（あるいは引抜き量）だけ嵌
合部品を嵌合させる（あるいは引抜く）ことができる。
これにより、ハンドと嵌合部品の滑りが発生しても確実
に嵌合部品の挿入動作あるいは引抜き動作を行うことが
できる。The effects of the present invention are summarized as follows for each claim. 1. Effect of the Invention According to Claim 1 Since the hand always grips the predetermined gripping position of the fitting component by correcting the gripping position when the contact portion between the hand and the fitting component slips, the hand of the robot arm By the predetermined operation, the fitting component can be fitted (or pulled out) by a desired insertion amount (or withdrawal amount).
As a result, even if the hand and the fitting component slip, it is possible to surely perform the inserting or extracting operation of the fitting component.
【００２０】２．請求項２に係る発明の効果
ロボットアームの先端に設けたハンドと該嵌合部品の接
触部分の滑り量が設定値より大きくなった際に把持位置
を修正することで、ハンドが嵌合部品の所定の把持位置
を常に把持するため、ロボットアームの所定の動作によ
り所望の挿入量あるいは引抜き量で嵌合作業、あるいは
引抜き作業を完了することができる。これにより、ハン
ドと嵌合部品間に滑りが発生しても確実に嵌合部品の挿
入動作あるいは引抜き動作を行うことができる。2. Effect of the Invention According to Claim 2 By correcting the grip position when the amount of slippage between the hand provided at the tip of the robot arm and the fitting part is larger than the set value, the hand is Since the predetermined gripping position is constantly gripped, the fitting operation or the withdrawal operation can be completed with a desired insertion amount or withdrawal amount by a predetermined operation of the robot arm. Thus, even if a slip occurs between the hand and the fitting component, the fitting component can be surely inserted or pulled out.
【００２１】３．請求項３に係る発明の効果
請求項１又は請求項２の組立方法において、把持位置修
正後の把持力を修正前の把持力よりも強くすることで、
修正後はハンドと嵌合部品の接触部分の摩擦力が増加す
る。これを繰り返すことにより作業反力よりも大きな摩
擦力で嵌合部品を把持して、確実に、挿入作業あるいは
引抜き作業を行うことができる。3. Effect of the Invention According to Claim 3 In the assembly method according to claim 1 or 2, by making the gripping force after the gripping position correction stronger than the gripping force before the correction,
After the correction, the frictional force at the contact portion between the hand and the fitting component increases. By repeating this, the fitting component can be gripped with a frictional force larger than the reaction force and the insertion work or the withdrawal work can be reliably performed.
【００２２】４．請求項４に係る発明の効果
請求項３の組立方法において、挿入動作の際、予め設定
した許容最大把持力で嵌合部品を把持してもなお滑りが
発生した場合、さらに大きな把持力で把持すると嵌合部
品が損傷してしまうことがある。また、つまりが生じて
いる可能性がありその状態では、嵌合部品と被嵌合部品
の軸の位置姿勢を修正することは困難で作業が完了しな
い。そこで、一旦部品を引抜いてから再度嵌合作業を行
うことによって、嵌合部品の位置及び姿勢を被嵌合部品
の穴に一致させて挿入することができる。これにより、
確実に嵌合部品の挿入動作を行うことができる。4. Effect of the Invention According to Claim 4 In the assembling method according to claim 3, when a fitting component is gripped with a preset allowable maximum gripping force and a slip still occurs during the inserting operation, the gripping force is further increased. Then, the fitting parts may be damaged. Further, there is a possibility that clogging has occurred, and in that state, it is difficult to correct the position and orientation of the axes of the fitting component and the fitted component, and the work is not completed. Therefore, by once pulling out the component and then performing the fitting operation again, the position and the posture of the fitting component can be inserted so as to match the hole of the fitted component. This allows
The insertion operation of the fitting component can be reliably performed.
【００２３】５．請求項５に係る発明の効果
ロボットアームの先端に設けたハンドで嵌合部品を把持
し作業を行うロボットにおいて、該ハンドと嵌合部品の
滑りを検出する滑り検出手段を備えることで、滑り量と
滑り方向を検出することができる。これらの滑り量と滑
り方向に基づき把持位置を修正することができる。これ
により、ハンドと嵌合部品の滑りが発生しても嵌合部品
の挿入動作あるいは引抜き動作を行うことができる。5. Effect of the Invention According to Claim 5 In a robot that grips a fitting component with a hand provided at the tip of a robot arm to perform a work, by providing a slip detecting unit that detects a slip between the hand and the fitting component, a slip amount And the slip direction can be detected. The grip position can be corrected based on the slip amount and the slip direction. Thus, even if the hand and the fitting component slip, the fitting component can be inserted or pulled out.
【００２４】６．請求項６に係る発明の効果
請求項５の組立ロボットにハンドの把持力検出手段を備
えることで、ハンドの把持力を制御することが可能とな
り、把持位置修正のたびに把持力を増加させることがで
きる。これにより、確実に嵌合部品の挿入動作あるいは
引抜き動作を行うことができる。6. Effect of the Invention According to Claim 6 By providing the assembly robot according to claim 5 with the gripping force detection means for the hand, it becomes possible to control the gripping force of the hand and increase the gripping force each time the gripping position is corrected. You can As a result, the insertion operation or the extraction operation of the fitting component can be reliably performed.
【００２５】７．請求項７に係る発明の効果
請求項５の滑り検出手段が、前記ハンドに前記嵌合部品
が把持された状態でその全体あるいは一部が撮影可能な
位置に設けられた小型ＣＣＤカメラと、該ＣＣＤカメラ
の出力信号から画像処理により該ハンドと該嵌合部品の
相対位置を演算する画像処理手段とであるから、ハンド
と嵌合部品の接触状態に影響を与えることなく滑り量を
検出できる。このため、ハンドと嵌合部品の滑りが発生
しても確実に嵌合部品の挿入動作あるいは引抜き動作を
行うことができる。7. Advantageous Effects of the Invention According to Claim 7 The slip detecting means according to claim 5 is a small CCD camera provided at a position where the whole or part of the hand can be photographed in a state where the fitting component is held by the hand, and Since the image processing means calculates the relative position of the hand and the fitting component by image processing from the output signal of the CCD camera, the slip amount can be detected without affecting the contact state between the hand and the fitting component. Therefore, even if the hand and the fitting component slip, it is possible to surely perform the inserting or extracting operation of the fitting component.
【００２６】８．請求項８に係る発明の効果
請求項５の滑り検出手段が、ハンドの爪表面に設けられ
た分布式触覚センサと、該分布式触覚センサの出力信号
から該ハンドと嵌合部品の滑りを演算する滑り演算手段
とであるから、直接的に滑り量を正確に検出することが
できる。これにより、ハンドと嵌合部品の滑りが発生し
ても、確実に嵌合部品の挿入動作あるいは引抜き動作を
行うことができる。8. The effect of the invention according to claim 8 The slip detecting means according to claim 5 calculates the slip between the hand and the fitting part from the distributed tactile sensor provided on the nail surface of the hand and the output signal of the distributed tactile sensor. Therefore, the slip amount can be directly and accurately detected. As a result, even if the hand and the fitting component slip, the fitting component can be surely inserted or pulled out.
【００２７】９．請求項９に係る発明の効果
請求項７の組立ロボットに、画像処理手段で算出された
ハンドと嵌合部品の相対位置情報に基づいてロボットア
ームの修正指令を演算する修正指令生成手段を備えたこ
とにより、ロボットアームが把持位置修正動作を行うこ
とができる。これにより、ハンドと嵌合部品の滑りが発
生しても、確実に嵌合部品の挿入動作あるいは引抜き動
作を行うことができる。9. Effect of the Invention According to Claim 9 The assembly robot according to claim 7 is provided with a correction command generation means for calculating a correction command for the robot arm based on the relative position information of the hand and the fitting component calculated by the image processing means. As a result, the robot arm can perform the grip position correction operation. As a result, even if the hand and the fitting component slip, the fitting component can be surely inserted or pulled out.
【００２８】１０．請求項１０に係る発明の効果
請求項８の組立ロボットに、滑り演算手段で算出された
滑り情報に基づいてアームの修正指令を演算する修正指
令生成手段を備えたことにより、ロボットアームが把持
位置修正動作を行うことができる。これにより、ハンド
と嵌合部品の滑りが発生しても、確実に嵌合部品の挿入
動作あるいは引抜き動作を行うことができる。10. Advantageous Effects of the Invention According to Claim 10 The assembly robot according to claim 8 is provided with the correction command generating means for calculating the arm correction command based on the slip information calculated by the slip calculating means, so that the robot arm can grasp the gripping position. Corrective action can be taken. As a result, even if the hand and the fitting component slip, the fitting component can be surely inserted or pulled out.
【図１】はこの発明の組立作業手順を示す模式図であ
る。FIG. 1 is a schematic diagram showing an assembly work procedure of the present invention.
【図２】は実施例の正面図である。FIG. 2 is a front view of the embodiment.
【図３】は他の実施例の正面図である。FIG. 3 is a front view of another embodiment.
１：ハンド ２：嵌合部品 ３：被嵌合部品 ３ａ：被嵌合部品の穴 ４：アーム ５：ＣＣＤカメラ ６：画像処理手段 ７：修正指令生成手段 ８：ロボット制御手段 ９：ハンド制御手段 １０：把持力検出手段 ２０：分布式接触センサ ２１：滑り演算手段 1: Hand 2: Mating parts 3: Mating parts 3a: hole for mating parts 4: Arm 5: CCD camera 6: Image processing means 7: Correction command generation means 8: Robot control means 9: Hand control means 10: Gripping force detection means 20: Distributed contact sensor 21: slip calculation means
───────────────────────────────────────────────────── フロントページの続き (72)発明者 原田 忠克 東京都大田区中馬込１丁目３番６号株式会 社リコー内 Ｆターム(参考） 3C007 AS07 DS01 ES03 KS05 KS32 KT01 KT05 KW02 KX07 LT06 LT12 LV10 LV17 NS07 3C030 BC05 BC16 BC21 BC31 BC33 BC35 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Tadakatsu Harada 1-3-3 Nakamagome Stock Market, Ota-ku, Tokyo Inside Ricoh F-term (reference) 3C007 AS07 DS01 ES03 KS05 KS32 KT01 KT05 KW02 KX07 LT06 LT12 LV10 LV17 NS07 3C030 BC05 BC16 BC21 BC31 BC33 BC35
Claims (10)
合部品を把持し、被嵌合部品に該嵌合部品を挿入する作
業あるいは嵌合部品を被嵌合部品の穴から引抜く作業を
行う部品組立方法おいて、該ハンドと該嵌合部品との接
触部分に滑りが発生した際に把持位置を修正することを
特徴とする組立ロボットによる部品組立方法。1. A work for gripping a fitting component with a hand provided at the tip of a robot arm and inserting the fitting component into the fitted component or extracting the fitting component from a hole of the fitted component. In the component assembling method to be carried out, a component assembling method by an assembling robot, wherein a gripping position is corrected when a slip occurs at a contact portion between the hand and the fitting component.
合部品を把持し、被嵌合部品に該嵌合部品を挿入する作
業あるいは嵌合部品を被嵌合部品の穴から引抜く作業を
行う部品組立方法において、上記ハンドと嵌合部品との
接触部分の滑り量が設定値より大きくなった際に、把持
位置を修正することを特徴とする組立ロボットによる部
品組立方法。2. A work for gripping a fitting component with a hand provided at the tip of a robot arm and inserting the fitting component into the fitted component or withdrawing the fitting component from a hole of the fitted component. In the component assembling method to be performed, the gripping position is corrected when the sliding amount of the contact portion between the hand and the fitting component becomes larger than a set value, and the component assembling method by an assembling robot.
把持力を修正前の把持力よりも強くすることを特徴とす
る請求項１又は請求項２の組立ロボットによる部品組立
方法。3. The component assembling method according to claim 1 or 2, wherein the gripping force after the gripping position is corrected is made stronger than the gripping force before the correction.
嵌合部品を把持してもなお滑りが発生した場合、該嵌合
部品を一旦引抜き、再度挿入作業をやりなおすことを特
徴とする請求項３の組立ロボットによる部品組立方法。4. In the inserting operation, when the fitting component is gripped with a preset maximum gripping force and still slips, the fitting component is once pulled out and the insertion work is repeated. A method for assembling a component by the assembly robot according to claim 3.
合部品を把持して作業を行う組立ロボットにおいて、上
記ハンドと嵌合部品の滑りを検出する滑り検出手段を備
えていることを特徴とする組立ロボット。5. An assembly robot for gripping a fitting component with a hand provided at the tip of a robot arm for performing work, comprising a slip detecting means for detecting a slip between the hand and the fitting component. Assembling robot.
いることを特徴とする請求項５の組立ロボット。6. The assembly robot according to claim 5, further comprising a gripping force detecting means for the robot hand.
把持された状態で嵌合部品の全体あるいは一部を撮影可
能な位置に設けられた小型ＣＣＤカメラと、該ＣＣＤカ
メラの出力信号を画像処理することにより、上記ハンド
と嵌合部品の相対位置を演算する画像処理手段とによる
ものであることを特徴とする請求項５の組立ロボット。7. A small CCD camera provided at a position where the slip detecting means can photograph the whole or a part of the fitting part in a state where the fitting part is gripped by a hand, and an output signal of the CCD camera. 6. The assembly robot according to claim 5, wherein the image processing means performs image processing to calculate the relative position between the hand and the fitting part.
けられた分布式触覚センサと、該分布式触覚センサの出
力信号から上記ハンドと嵌合部品の滑りを演算する滑り
演算手段とであることを特徴とする請求項５の組立ロボ
ット。8. The slip detecting means comprises a distributed tactile sensor provided on the surface of a nail of a hand, and a slip calculating means for calculating a slip between the hand and a fitting part from an output signal of the distributed tactile sensor. The assembly robot according to claim 5, wherein the assembly robot is provided.
合部品の相対位置情報に基づいてアームの修正指令を演
算する修正指令生成手段を備えていることを特徴とする
請求項７の組立ロボット。9. An assembly according to claim 7, further comprising: a correction command generating means for calculating an arm correction command based on the relative position information of the hand and the fitting component calculated by the image processing means. robot.
に基づいてアームの修正指令を演算する修正指令生成手
段を備えていることを特徴とする請求項８の組立ロボッ
ト。10. The assembly robot according to claim 8, further comprising a correction command generating means for calculating an arm correction command based on the slip information calculated by the slip calculating means.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001321140A JP2003127081A (en) | 2001-10-18 | 2001-10-18 | Assembly robot and part assembly method using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001321140A JP2003127081A (en) | 2001-10-18 | 2001-10-18 | Assembly robot and part assembly method using the same |
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|---|---|
| JP2003127081A true JP2003127081A (en) | 2003-05-08 |
Family
ID=19138418
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005342443A (en) * | 2004-06-07 | 2005-12-15 | Saitama Prefecture | Slippage detecting system and method |
| WO2006030570A1 (en) * | 2004-09-14 | 2006-03-23 | National University Corporation Nara Institute Ofscience And Technology | Tactile sensor and use of the same |
| JP2007313601A (en) * | 2006-05-25 | 2007-12-06 | Nissan Motor Co Ltd | Method, apparatus and system for transferring workpiece |
| JP2007313591A (en) * | 2006-05-24 | 2007-12-06 | Nissan Motor Co Ltd | Method, device, and system for transferring work |
| JP2008183716A (en) * | 2008-05-07 | 2008-08-14 | Fanuc Ltd | Grip-type hand |
| JP2008207262A (en) * | 2007-02-23 | 2008-09-11 | Matsushita Electric Works Ltd | Manipulator system |
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