JPH04348885A - Method for detecting fitting position in assembly of parts by use of robot - Google Patents
Method for detecting fitting position in assembly of parts by use of robotInfo
- Publication number
- JPH04348885A JPH04348885A JP11996391A JP11996391A JPH04348885A JP H04348885 A JPH04348885 A JP H04348885A JP 11996391 A JP11996391 A JP 11996391A JP 11996391 A JP11996391 A JP 11996391A JP H04348885 A JPH04348885 A JP H04348885A
- Authority
- JP
- Japan
- Prior art keywords
- component
- parts
- force
- robot
- force sensor
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 6
- 208000019300 CLIPPERS Diseases 0.000 claims description 3
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 claims description 3
- 230000007423 decrease Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
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- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、互いに嵌合する軸部、
孔部をそれぞれが有する２つの部品のうち一方の部品を
動かないように設置し、他方の部品をロボットのアーム
の先端に設けられたグリッパで把持し移動させて前記軸
部と孔部を嵌合させることにより前記両部品を組立てる
、ロボットを用いた部品組立作業における嵌合位置検出
方法に関する。[Industrial Application Field] The present invention relates to shaft parts that fit together,
One of the two parts, each having a hole, is installed so that it does not move, and the other part is gripped and moved by a gripper provided at the tip of the robot's arm to fit the shaft and the hole. The present invention relates to a method for detecting a fitted position in a parts assembly operation using a robot, in which the two parts are assembled by fitting them together.
【０００２】0002
【従来の技術】図３はロボットを用いた部品組立作業を
示す図である。2. Description of the Related Art FIG. 3 is a diagram showing a part assembly operation using a robot.
【０００３】これは、円柱状の部品１をロボット４のア
ームの先端に設けられたグリッパ５で把持し移動させて
、部品２の円柱状の孔３に挿入することにより両部品１
と２を組立てる組立作業を示している。この例では、部
品１と２の中心軸が一致していないため、部品１をその
軸方向に移動させて部品２の孔３にを挿入しようとして
も、孔３に挿入することはできない。This is achieved by gripping and moving a cylindrical part 1 with a gripper 5 provided at the tip of an arm of a robot 4, and inserting the cylindrical part 1 into a cylindrical hole 3 of the part 2.
The figure shows the assembly work for assembling 2 and 2. In this example, since the central axes of components 1 and 2 do not match, even if component 1 is moved in the axial direction and attempted to be inserted into hole 3 of component 2, it cannot be inserted into hole 3.
【０００４】このような組立作業においては、嵌合する
部品の相互の位置を精度良く合わせる必要がある。従来
より、自動的組立作業においてはこの位置を精度よく合
わせるため、ロボット等組立機械及び組立部品の取り付
けを十分精度の高いものとする一方、嵌合運動方向を上
下方向に限定したり、ガイドピンなどの補助的手段を講
じるなどの必要があった。この組立作業において簡便、
かつ高精度の位置合わせを行うことが自動化における重
要な課題であった。[0004] In such assembly work, it is necessary to align the fitting parts with each other with high precision. Conventionally, in automatic assembly work, in order to precisely match this position, assembly machines such as robots and assembly parts have been mounted with sufficient precision, but the direction of the mating movement has been limited to the vertical direction, and guide pins have been It was necessary to take supplementary measures such as This assembly process is easy and
In addition, performing highly accurate positioning was an important issue in automation.
【０００５】[0005]
【発明が解決しようとする課題】しかるに従来の位置合
わせ方法は、組立部品の位置、方向を高精度に決めるこ
とが基本となっているため、部品の形状、位置、方向の
多様化には対応しにくいという欠点があった。[Problem to be solved by the invention] However, since the conventional alignment method is based on determining the position and direction of assembled parts with high precision, it is not compatible with diversification of the shape, position, and direction of parts. The drawback was that it was difficult to do.
【０００６】本発明の目的は、ロボットを用いた組立作
業において、簡便、かつ高精度に位置合わせを行うため
に、両部品の相対的位置の誤差を検出する、ロボットを
用いた部品組立作業における嵌合位置検出方法を提供す
ることである。An object of the present invention is to detect an error in the relative position of both parts in order to easily and accurately align the parts in assembly work using a robot. An object of the present invention is to provide a fitting position detection method.
【０００７】[0007]
【課題を解決するための手段】本発明の、ロボットを用
いた部品組立作業における嵌合位置検出方法は、他方の
部品が一方の部品に接触し、嵌合できなくなった状態に
て、両部品の接触点近傍で、前記他方の部品の位置およ
び／または姿勢を微小量変化させ、その時に前記他方の
部品が前記一方の部品から受ける力を前記クリッパに取
り付けられた力覚センサによって検出し、記憶する第１
のステップと、第１のステップにおいて、前記他方の部
品の位置および／または姿勢の変化に対応して得られた
力覚センサデータの変化、または力覚センサデータと前
記他方の部品の位置および／または姿勢の変化の個々の
関係から前記両部品の相対的位置の誤差を算出する第２
のステップとを含む。[Means for Solving the Problems] The fitting position detection method of the present invention in part assembly work using a robot is such that when the other part is in contact with one part and the fitting is no longer possible, both parts are changing the position and/or orientation of the other component by a minute amount near the contact point of the clipper, and detecting the force that the other component receives from the one component at that time with a force sensor attached to the clipper; 1st thing to remember
and in the first step, a change in force sensor data obtained in response to a change in the position and/or posture of the other component, or a change in the force sensor data and the position and/or posture of the other component. Or a second method that calculates the error in the relative position of the two parts from the individual relationships of changes in posture.
and the steps of.
【０００８】[0008]
【作用】両部品が接触した後、他方の部品の位置や姿勢
を微小量変化させると、その時の位置や姿勢に応じて他
方の部品が一方の部品から受ける力が変化するので、そ
の力の変化から他方の部品がずれている方向を検出でき
る。したがって、この方向に他方の部品を移動させて行
けば、軸部の中心と孔部の中心が一致し、両部品を嵌合
させることができる。[Operation] After the two parts come into contact, if the position or orientation of the other part is changed by a minute amount, the force that the other part receives from the other part will change depending on the position or orientation at that time. The direction in which the other component is misaligned can be detected from the change. Therefore, if the other component is moved in this direction, the center of the shaft portion and the center of the hole will match, allowing both components to fit together.
【０００９】[0009]
【実施例】次に、本発明の実施例について図面を参照し
て説明する。Embodiments Next, embodiments of the present invention will be described with reference to the drawings.
【００１０】図１は、本発明の一実施例のロボットを用
いた部品組立作業を示す図である。これは、円柱状の部
品１をロボット４のアームの先端に設けられたグリッパ
５で把持移動させて、部品２の円柱状の孔３に挿入する
ことにより両部品１と２を組立てる組立作業を示してい
る。ロボット４にはグリッパ５で把持された部品１に加
わるＸ，Ｙ，Ｚ方向の力を検出する力覚センサ６が接続
されている。力覚センサ駆動回路７は力覚センサ６を駆
動するとともに、力覚センサ６の出力を記憶し、比較演
算する。ロボットコントローラ８は、力覚センサ６の比
較演算結果に基づいて、部品１を移動させる動作をロボ
ット４に行なわせる。FIG. 1 is a diagram showing a part assembly operation using a robot according to an embodiment of the present invention. This involves assembling both parts 1 and 2 by gripping and moving a cylindrical part 1 with a gripper 5 provided at the tip of the arm of a robot 4 and inserting it into a cylindrical hole 3 of part 2. It shows. A force sensor 6 is connected to the robot 4 to detect forces in the X, Y, and Z directions applied to the component 1 gripped by the gripper 5 . The force sensor drive circuit 7 drives the force sensor 6, stores the output of the force sensor 6, and performs comparison calculations. The robot controller 8 causes the robot 4 to perform an operation of moving the component 1 based on the comparison calculation result of the force sensor 6.
【００１１】部品１を部品２に挿入するにあたって、ま
ずロボット４は部品１を中心軸に沿って部品２の方に移
動させる。部品１と部品２との位置誤差によって部品１
が部品２の挿入すべき孔３の縁に接触すると、その際に
部品１が部品２から受ける力を力覚センサ６が検出し、
その信号が力覚センサ駆動回路７を経てロボットコント
ローラ８に送られ、ロボットコントローラ８はグリッパ
５による部品１の移動動作を停止させる。この停止した
部品１の位置でロボットコントローラ８は部品１の姿勢
を微小量変化させる。この変化に伴う部品２から部品１
が受ける力を力覚センサ６によって検出する。To insert part 1 into part 2, robot 4 first moves part 1 toward part 2 along the central axis. Due to the positional error between parts 1 and 2, part 1
When the component 2 comes into contact with the edge of the hole 3 into which the component 2 is to be inserted, the force sensor 6 detects the force that the component 1 receives from the component 2 at that time.
The signal is sent to the robot controller 8 via the force sensor drive circuit 7, and the robot controller 8 stops the movement of the component 1 by the gripper 5. At this stopped position of the part 1, the robot controller 8 changes the attitude of the part 1 by a minute amount. Part 2 to Part 1 due to this change
The force sensor 6 detects the force received by the sensor.
【００１２】図２は図１で述べた部品１の姿勢の微小量
変化と部品２から部品１が受ける力の発生の関係を説明
したものである。１０は部品１の部品２との接触底面の
中心であり、ロボット４は１０を中心として部品１を微
小角度傾ける動作を行う。１１は部品１が部品２に対し
てずれている方向に傾けた場合である。１３は１１の場
合に部品１の傾きによって移動した部品１の部品２との
接触点を示す。１２は部品１をこれと反対方向に傾けた
場合である。１４は１２の場合に部品１の傾きによって
移動した部品１の部品２との接触点を示す。１１の場合
は部品１は１３を中心とした回転運動を行うため、部品
１の位置は上方に移動しようとし部品１が部品２から上
方に受ける力が増大する。これに対し、１２の場合には
部品１は１４を中心とした回転運動を行うため、部品１
は下方に移動しようとし、部品１が部品２から上方に受
ける力は減少する。すなわち部品１を傾けた場合に部品
１が部品２から上方に受ける力が増大する方向が部品１
の位置誤差の方向を示している。これらの力は力覚セン
サ６によって検出され、力覚センサ駆動回路７に記憶さ
れる。したがって、１０を頂点とし部品１の軸１５をそ
の軸とする円錐の側面１６に部品１の中心軸が沿うよう
に各方向に部品１を傾ければ部品１が部品２から上方に
受ける力が順次変化し、その値が最大となる方向が検出
できるので部品１のずれている方向を検出できる。した
がって、この方向に部品１を移動させて行けば、部品１
の中心はやがて部品２の中心と一致し、部品１と部品２
を嵌合させることができる。また、部品１が上方に受け
る力の大きさは、傾きの中心から部品１と部品２との接
触点までの距離に傾き角を乗じた値に比例するので、部
品１と部品２の形状が既知であり、接触点が予知できる
場合には、上方に受ける力と部品１の傾きを知ることに
よって、部品１の位置ずれ量が算出できる。FIG. 2 illustrates the relationship between the minute change in the posture of component 1 described in FIG. 1 and the generation of force exerted on component 1 from component 2. 10 is the center of the bottom surface of the component 1 in contact with the component 2, and the robot 4 performs an operation of tilting the component 1 by a small angle with 10 as the center. 11 is a case where the component 1 is tilted in a direction in which it is deviated from the component 2. Reference numeral 13 indicates the contact point of component 1 with component 2, which has moved due to the inclination of component 1 in case 11. 12 is a case where the component 1 is tilted in the opposite direction. Reference numeral 14 indicates the contact point of component 1 with component 2, which has moved due to the inclination of component 1 in case 12. In the case of 11, component 1 performs a rotational movement around 13, so the position of component 1 tends to move upward, and the force that component 1 receives upward from component 2 increases. On the other hand, in the case of 12, part 1 performs rotational movement around 14, so part 1
tends to move downwards, and the force exerted upwardly on part 1 from part 2 decreases. In other words, when part 1 is tilted, the direction in which the upward force that part 1 receives from part 2 increases is part 1.
indicates the direction of the position error. These forces are detected by the force sensor 6 and stored in the force sensor drive circuit 7. Therefore, if the part 1 is tilted in each direction so that the central axis of the part 1 is along the side surface 16 of a cone with the apex 10 and the axis 15 of the part 1, the force that the part 1 receives upward from the part 2 will be reduced. Since the value changes sequentially and the direction in which the value is maximum can be detected, the direction in which the component 1 is displaced can be detected. Therefore, if part 1 is moved in this direction, part 1
The center of will eventually coincide with the center of part 2, and part 1 and part 2 will be
can be fitted. Also, the magnitude of the force that component 1 receives upward is proportional to the distance from the center of inclination to the point of contact between component 1 and component 2 multiplied by the inclination angle, so the shape of component 1 and component 2 is If the contact point is known and can be predicted, the amount of positional deviation of the component 1 can be calculated by knowing the force applied upward and the inclination of the component 1.
【００１３】なお、部品１を固定しておいて、部品２を
移動させ、その孔３を部品１に嵌合させる場合も同様で
ある。The same applies to the case where component 1 is fixed and component 2 is moved and its hole 3 is fitted into component 1.
【００１４】[0014]
【発明の効果】以上説明したように本発明は、両部品が
接触した後、他方の部品の位置や姿勢を種々に微小量変
化させ、その時に他方の部品が一方の部品から受ける力
を検出し、その力の変化、またはその力と他方の部品の
位置や姿勢の変化の個々の関係から両部品の相対的位置
の誤差を検出することにより、嵌合する部品を簡便、か
つ高精度に位置合わせできる効果がある。Effects of the Invention As explained above, the present invention changes the position and orientation of the other part by various minute amounts after the two parts come into contact, and detects the force that the other part receives from the other part at that time. By detecting the error in the relative position of both parts from the change in force, or the individual relationship between that force and the change in the position or posture of the other part, it is possible to easily and accurately select the parts to be mated. This has the effect of positioning.
【図１】本発明の一実施例の、ロボットを用いた部品組
立作業を示す図である。FIG. 1 is a diagram showing part assembly work using a robot according to an embodiment of the present invention.
【図２】図１の実施例における、部品１と２の相対的位
置誤差の検出原理を示す図である。FIG. 2 is a diagram illustrating the principle of detecting a relative position error between parts 1 and 2 in the embodiment of FIG. 1;
【図３】従来例の、ロボットを用いた部品組立作業を示
す図である。FIG. 3 is a diagram showing a conventional example of parts assembly work using a robot.
１ 円柱状の部品（挿入する側）２ 円柱
状の部品（挿入される側）３ 孔
４ ロボット
５ グリッパ
６ 力覚センサ
７ 力覚センサ駆動回路
８ ロボットコントローラ
１０ 部品１を部品２に挿入しようとし、位置誤
差によって挿入できない状態
１１ 部品１が部品２に対してずれている方向に
部品１を傾けた場合
１２ １１と反対方向に傾けた場合１３
１１における部品１と２との接触点１４ １２に
おける部品１と２との接触点１５ 部品１の軸
１６ 円錐の側面1 Cylindrical component (side to be inserted) 2 Cylindrical component (side to be inserted) 3 Hole 4 Robot 5 Gripper 6 Force sensor 7 Force sensor drive circuit 8 Robot controller 10 Trying to insert component 1 into component 2 , state in which insertion is not possible due to positional error 11 When component 1 is tilted in the direction in which component 1 is misaligned with component 2 12 When component 1 is tilted in the opposite direction to 11 13
Contact point 14 between parts 1 and 2 at 11 Contact point 15 between parts 1 and 2 at 12 Axis 16 of part 1 Side surface of cone
Claims (1)
が有する２つの部品のうち一方の部品を動かないように
設置し、他方の部品をロボットのアームの先端に設けら
れたグリッパで把持し移動させて前記軸部と孔部を嵌合
させることにより前記両部品を組立てる、ロボットを用
いた部品組立作業において、前記他方の部品が前記一方
の部品に接触し、嵌合できなくなった状態にて、両部品
の接触点近傍で、前記他方の部品の位置および／または
姿勢を微小量変化させ、その時に前記他方の部品が前記
一方の部品から受ける力を前記クリッパに取り付けられ
た力覚センサによって検出し、記憶する第１のステップ
と、第１のステップにおいて、前記他方の部品の位置お
よび／または姿勢の変化に対応して得られた力覚センサ
データの変化、または力覚センサデータと前記他方の部
品の位置および／または姿勢の変化の個々の関係から前
記両部品の相対的位置の誤差を検出する第２のステップ
とを含む、ロボットを用いた部品組立作業における嵌合
位置検出方法。Claim 1: Of two parts each having a shaft part and a hole part that fit into each other, one part is installed so as not to move, and the other part is gripped by a gripper provided at the tip of a robot arm. In a part assembly operation using a robot, in which the two parts are assembled by moving the two parts and fitting the shaft part and the hole part, the other part comes into contact with the one part, and the fitting becomes impossible. The position and/or orientation of the other component is changed by a minute amount near the point of contact between the two components, and the force that the other component receives from the one component at that time is detected by a force sensor attached to the clipper. a first step of detecting and storing by a sensor; and a change in force sensor data obtained in response to a change in the position and/or posture of the other component in the first step, or force sensor data; and a second step of detecting an error in the relative position of the two parts from an individual relationship between changes in the position and/or posture of the other part. Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11996391A JPH04348885A (en) | 1991-05-24 | 1991-05-24 | Method for detecting fitting position in assembly of parts by use of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11996391A JPH04348885A (en) | 1991-05-24 | 1991-05-24 | Method for detecting fitting position in assembly of parts by use of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04348885A true JPH04348885A (en) | 1992-12-03 |
Family
ID=14774536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11996391A Pending JPH04348885A (en) | 1991-05-24 | 1991-05-24 | Method for detecting fitting position in assembly of parts by use of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04348885A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011110463A1 (en) | 2010-03-09 | 2011-09-15 | Kuka Laboratories Gmbh | Method for mounting components by means of an industrial robot |
| JP2014042965A (en) * | 2012-08-27 | 2014-03-13 | Honda Motor Co Ltd | Method for transferring workpiece and workpiece transfer system |
| JP2017052049A (en) * | 2015-09-09 | 2017-03-16 | ファナック株式会社 | Object attitude calculation system |
| JP2019160973A (en) * | 2018-03-12 | 2019-09-19 | オムロン株式会社 | Component insertion device, component insertion method, and program |
| KR20200023019A (en) * | 2018-08-24 | 2020-03-04 | 현대자동차주식회사 | Apparatus and method for multi-layer component alignment |
| EP4197917A1 (en) * | 2021-12-17 | 2023-06-21 | BAE SYSTEMS plc | An interface node for a robotic arm |
| WO2023111517A1 (en) * | 2021-12-17 | 2023-06-22 | Bae Systems Plc | An interface node for a robotic arm |
-
1991
- 1991-05-24 JP JP11996391A patent/JPH04348885A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011110463A1 (en) | 2010-03-09 | 2011-09-15 | Kuka Laboratories Gmbh | Method for mounting components by means of an industrial robot |
| DE102010010718A1 (en) | 2010-03-09 | 2011-09-15 | Kuka Laboratories Gmbh | Method for assembling components by means of an industrial robot |
| CN102791441A (en) * | 2010-03-09 | 2012-11-21 | 库卡实验仪器有限公司 | Method for mounting components by means of an industrial robot |
| KR20130018685A (en) * | 2010-03-09 | 2013-02-25 | 쿠카 레보라토리즈 게엠베하 | Method for mounting components by means of an industrial robot |
| US8972062B2 (en) | 2010-03-09 | 2015-03-03 | Kuka Laboratories Gmbh | Method for mounting components by means of an industrial robot |
| JP2014042965A (en) * | 2012-08-27 | 2014-03-13 | Honda Motor Co Ltd | Method for transferring workpiece and workpiece transfer system |
| JP2017052049A (en) * | 2015-09-09 | 2017-03-16 | ファナック株式会社 | Object attitude calculation system |
| US9903698B2 (en) | 2015-09-09 | 2018-02-27 | Fanuc Corporation | Object posture calculation system |
| JP2019160973A (en) * | 2018-03-12 | 2019-09-19 | オムロン株式会社 | Component insertion device, component insertion method, and program |
| CN110253564A (en) * | 2018-03-12 | 2019-09-20 | 欧姆龙株式会社 | Part inserting device, part insertion method and computer readable recording medium |
| US11171431B2 (en) | 2018-03-12 | 2021-11-09 | Omron Corporation | Component insertion device with dummy component, and component insertion method and computer readable recording medium of using the same |
| CN110253564B (en) * | 2018-03-12 | 2022-05-13 | 欧姆龙株式会社 | Part insertion device, part insertion method, and computer-readable recording medium |
| KR20200023019A (en) * | 2018-08-24 | 2020-03-04 | 현대자동차주식회사 | Apparatus and method for multi-layer component alignment |
| EP4197917A1 (en) * | 2021-12-17 | 2023-06-21 | BAE SYSTEMS plc | An interface node for a robotic arm |
| WO2023111517A1 (en) * | 2021-12-17 | 2023-06-22 | Bae Systems Plc | An interface node for a robotic arm |
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