Robot, robot control method, and storage medium

Abstract

This invention provides a robot that uses a reference measurement result obtained by a measuring unit at a reference measurement position of a target component as a reference, adjusts the position of the target component using a position adjusting hand, and simultaneously uses a thread tightening hand to tighten the thread of one of a plurality of threaded components. After tightening the thread of one threaded component, the robot obtains a new reference measurement result, uses the newly obtained reference measurement result as a reference, adjusts the position of the target component using a position adjusting hand, and simultaneously uses a thread tightening hand to tighten the thread of the next of a plurality of threaded components.

Description

Technical Field

[0001] This disclosure relates to robots, robot control methods, and storage media. Background Technology

[0002] Robot systems with two robotic arms have been known for some time. For example, Japanese Patent Application Publication No. 2022-176106 discloses a dual-arm robot assembly system that uses two robotic arms for assembly operations. In this dual-arm robot assembly system, one of the two robotic arms acts as an auxiliary arm to assist the other as a primary arm, thereby performing the assembly operation. Specifically, Japanese Patent Application Publication No. 2022-176106 describes an example in which the assembly operation is performed by using the auxiliary arm to press the workpiece while simultaneously using the primary arm to tighten the threads.

[0003] In the assembly process of the two robotic arms using the aforementioned Japanese Patent Application Publication No. 2022-176106, when multiple threaded components are used to thread-fasten the target component to the mounting surface, the position of the target component sometimes shifts during the sequential threading of the multiple threaded components. Therefore, it is desirable to improve the accuracy of the target component's fixed position when using multiple threaded components to fix the target component by threading. Summary of the Invention

[0004] The problem that the invention aims to solve This disclosure was made to solve the above-mentioned problems. One object of this disclosure is to provide a robot, a robot control method, and a storage medium that can improve the accuracy of the fixed position of a target component when multiple threaded components are used to fasten the target component by thread.

[0005] Technical solutions for solving the problem To achieve the above objectives, the robot of the first aspect of this disclosure comprises: a thread-fastening hand that fastens multiple threaded components disposed on a target component to fix the target component to a mounting surface; a thread-fastening arm on which the thread-fastening hand is mounted; a position-adjusting hand that adjusts the position of the target component during the thread-fastening process; a position-adjusting arm separately disposed from the thread-fastening arm and on which the position-adjusting hand is mounted; a measuring unit that measures the position of the target component relative to a reference position; and a control unit that uses the measurement result obtained by the measuring unit at a reference measuring position of the target component, i.e., the reference measurement result, as a reference, to adjust the position of the target component using the position-adjusting hand, while simultaneously fastening one of the multiple threaded components with the thread-fastening hand, and after fastening one threaded component, by re-obtaining the reference measurement result at the reference measuring position, using the re-obtained reference measurement result as a reference, adjusting the position of the target component using the position-adjusting hand, while simultaneously fastening the next threaded component among the multiple threaded components with the thread-fastening hand.

[0006] As described above, the robot of the first aspect of this disclosure includes a control unit that, after tightening the threads of a threaded component, re-acquires a reference measurement result at a reference measurement position. Using this re-acquired reference measurement result as a reference, the control unit adjusts the position of a target component using a position adjustment hand, and simultaneously tightens the threads of the next threaded component among a plurality of threaded components using a thread tightening hand. Therefore, since the reference measurement result is re-acquired after tightening the threads of a threaded component by the control unit, even if the position of the target component shifts due to the tightening of one threaded component, the amount of shift of other parts of the target component relative to the actual reference measurement position after the tightening of the threaded component can be measured. Thus, since it is possible to prevent tightening the threads of the next threaded component when the positional relationship between the actual reference measurement position and the position where the next threaded component is tightened has shifted, the accuracy of the position where the next threaded component is tightened relative to the actual reference measurement position can be improved. As a result, when using multiple threaded components to fix the target component by thread tightening, the accuracy of the target component's fixed position can be improved.

[0007] The robot control method of the second aspect of this disclosure includes the following steps: obtaining a reference measurement result of the position relative to a reference position at a reference measurement position of a target component that is fixed to a mounting surface by threading using multiple threaded components; using the obtained reference measurement result as a reference, adjusting the position of the target component using a position adjustment hand mounted on a position adjustment arm, while simultaneously threading one of the multiple threaded components using a thread fastening hand mounted on a thread fastening arm separately configured from the position adjustment arm; and after threading one threaded component, adjusting the position of the target component using a position adjustment hand by re-obtaining the reference measurement result at the reference measurement position, using the re-obtained reference measurement result as a reference, while simultaneously threading the next of the multiple threaded components using the thread fastening hand.

[0008] As described above, the robot control method of the second aspect of this disclosure, after tightening the threads of a threaded component, re-obtains the reference measurement result at the reference measurement position, uses the re-obtained reference measurement result as a reference, adjusts the position of the target component using a position adjustment hand, and simultaneously tightens the threads of the next threaded component among multiple threaded components using a thread tightening hand. Therefore, since the reference measurement result is re-obtained after tightening the threads of a threaded component, even if the position of the target component shifts due to the tightening of one threaded component, the offset of other parts of the target component relative to the actual reference measurement position after tightening the threads of that threaded component can be measured. Thus, it is possible to prevent tightening the threads of the next threaded component when the positional relationship between the actual reference measurement position and the position where the next threaded component is tightened has shifted, thereby improving the accuracy of the position of the next threaded component tightened relative to the actual reference measurement position. As a result, a robot control method can be provided that improves the accuracy of the fixed position of the target component when using multiple threaded components to tighten the threads.

[0009] The storage medium of the third aspect of this disclosure is a computer-readable storage medium storing a robot control program for causing a control device that controls the robot's movements to perform the following processes: obtaining a reference measurement result of the position relative to a reference position at a reference measurement position of a target component that is fixed to a mounting surface by threading multiple threaded components; using the obtained reference measurement result as a reference, adjusting the position of the target component using a position adjustment hand mounted on a position adjustment arm of the robot, while simultaneously threading one of the multiple threaded components using a thread fastening hand mounted on a thread fastening arm separately configured from the position adjustment arm in the robot; and after threading one threaded component, adjusting the position of the target component using the position adjustment hand by re-obtaining the reference measurement result at the reference measurement position, using the re-obtained reference measurement result as a reference, while simultaneously threading the next of the multiple threaded components using the thread fastening hand.

[0010] As described above, the storage medium of the third aspect of this disclosure stores a robot control program that causes a control device controlling the robot's movements to perform the following processing: after tightening the threads of a threaded component, by re-obtaining the reference measurement result at the reference measurement position, using the re-obtained reference measurement result as a reference, adjusting the position of the target component using a position adjustment hand, and simultaneously tightening the threads of the next threaded component among multiple threaded components using a thread tightening hand. Therefore, since the reference measurement result is re-obtained after tightening the threads of a threaded component, even if the position of the target component shifts due to the tightening of a threaded component, the amount of shift of other parts of the target component after tightening the threads of a threaded component relative to the actual reference measurement position can be measured. Therefore, it is possible to prevent tightening the threads of the next threaded component when the positional relationship between the actual reference measurement position and the position where the next threaded component is tightened has shifted, thus improving the accuracy of the position where the next threaded component is tightened relative to the actual reference measurement position. As a result, a storage medium can be provided that improves the accuracy of the target component's fixed position when using multiple threaded components to fix the target component by thread tightening.

[0011] Invention Effects As described above, this disclosure provides a robot, robot control method, and storage medium that can improve the accuracy of the fixed position of a target component when using multiple threaded components to fasten the target component by threading. Attached Figure Description

[0012] Figure 1 A perspective view of a robot according to one embodiment of the present disclosure is shown schematically.

[0013] Figure 2 The image shows a front view of a robot according to one embodiment.

[0014] Figure 3 A three-dimensional diagram showing the structure of a threaded fastener.

[0015] Figure 4 A three-dimensional diagram illustrating the composition of a hand adjusting its position.

[0016] Figure 5 This diagram illustrates the state in which the adjusting part of the position adjusting hand is not in contact with the driven guide rail.

[0017] Figure 6 This diagram illustrates the state in which the adjusting part of the position adjusting hand abuts against the driven guide rail.

[0018] Figure 7 A three-dimensional diagram showing the structure of the measuring unit.

[0019] Figure 8 This is a top view used to illustrate the measurements performed by the measuring unit.

[0020] Figure 9 A three-dimensional diagram to represent the composition of the hand based on the reference.

[0021] Figure 10 This is a flowchart illustrating a robot control method according to an embodiment of the present disclosure.

[0022] Figure 11 This is a top view used to illustrate the positioning of a reference guide rail by a reference-determining hand.

[0023] Figure 12 This is a flowchart illustrating the processing of a fixed driven guide rail in a robot control method according to an embodiment of the present disclosure.

[0024] Figure 13 This is a schematic diagram illustrating the configuration of a reference threaded component and multiple threaded components in a driven guide rail.

[0025] Figure 14 This is a schematic top view used to illustrate the acquisition of benchmark measurement results.

[0026] Figure 15 This is a flowchart illustrating the thread tightening process of threaded components in a robot control method.

[0027] Figure 16 This is a schematic top view used to illustrate the threaded fastening of a threaded component.

[0028] Figure 17This is a flowchart illustrating the confirmation action processing in a robot control method. Detailed Implementation

[0029] Hereinafter, an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0030] Reference Figures 1 to 9 The configuration of the robot 100 according to one embodiment of the present disclosure will be described.

[0031] (The composition of a robot) like Figure 1 As shown, the robot 100 of this embodiment is a dual-arm robot with a robotic arm 10 and a robotic arm 20 arranged separately from each other. Furthermore, the robot 100 includes a threaded fastening hand 40, a position adjustment hand 50, a measuring unit 60, and a reference determining hand 70. By manipulating the robotic arm 10, on which the threaded fastening hand 40 is mounted, and the robotic arm 20, on which the position adjustment hand 50 is mounted, the robot 100 performs the following assembly operation: fixing a linear reference guide rail 101 and a linear driven guide rail 102, arranged separately from each other, to the mounting surface 103a of the base member 103 in a parallel configuration. After the robot 100 uses the threaded fastener 40 to fix the reference guide rail 101 onto the mounting surface 103a of the base component 103, it uses the position adjustment hand 50 to adjust the position of the driven guide rail 102 relative to the reference guide rail 101. Simultaneously, the threaded fastener 40 fixes the driven guide rail 102 to the mounting surface 103a of the base component 103 in a state parallel to the reference guide rail 101. That is, the robot 100 constitutes an assembly system that fixes the driven guide rail 102 in a pre-positioned state. Furthermore, robotic arm 10 and robotic arm 20 are examples of a threaded fastening arm and a position adjustment arm, respectively. The reference guide rail 101 and the driven guide rail 102 are examples of a reference component and a target component, respectively.

[0032] Multiple insertion holes H for inserting multiple threaded components F are arranged in a straight line on the reference guide rail 101. Similarly, multiple insertion holes H for inserting multiple threaded components F are arranged in a straight line on the driven guide rail 102. The multiple threaded components F are pre-configured, for example, on a threaded configuration portion 104 that is separately configured from the robot 100 and the base component 103. The reference guide rail 101 and the driven guide rail 102 are linear guides, which are guides for linear movement of workpieces or devices. The base component 103 has a top surface along the horizontal plane, namely a mounting surface 103a, and a support platform on which the reference guide rail 101 and the driven guide rail 102 are fixed. The reference guide rail 101 and the driven guide rail 102 are fixed to the base component 103 by multiple threaded components F. A reference slider 101a and a driven slider 102a are respectively arranged on the reference guide rail 101 and the driven guide rail 102. The reference slider 101a and the driven slider 102a move linearly by sliding on the reference guide rail 101 and the driven guide rail 102, respectively. The reference slider 101a and the driven slider 102a are base components for mounting the target to be moved linearly. Specifically, the reference guide rail 101 is a guide for the linear movement of the reference slider 101a, and the driven guide rail 102 is a guide for the linear movement of the driven slider 102a. Furthermore, the reference slider 101a is an example of a moving part and a reference base component. The driven slider 102a is an example of a driven base component.

[0033] Furthermore, the robot 100 includes a torso 31 that jointly supports the robotic arm 10 and the robotic arm 20, and a housing 32 for supporting the torso 31. The robotic arm 10 moves a threaded fastening hand 40 mounted at its front end by driving multiple joints. The robotic arm 20 moves a position adjustment hand 50, a measuring unit 60, and a reference determining hand 70 mounted at its front end by driving multiple joints. Furthermore, the position adjustment hand 50, the measuring unit 60, and the reference determining hand 70 can be interchangeably mounted to the front end of the robotic arm 20. Before being mounted on the robotic arm 20, the position adjustment hand 50, the measuring unit 60, and the reference determining hand 70 are, for example, pre-placed in a tool placement section 105 located adjacent to the housing 32 of the robot 100.

[0034] like Figure 2As shown, the robotic arm 10 includes a base link 11 and a front link 12 that rotate relative to each other along a horizontal plane. Furthermore, the robotic arm 10 includes a vertical link portion 13 and a tool mounting portion 14. The base link 11 is rotatably connected to the torso 31. The front link 12 is rotatably connected to the base link 11. Specifically, one end of the base link 11 is mounted to the torso 31 above it in a manner rotatable about axis A1. One end of the front link 12 is mounted to the other end of the base link 11. One end of the front link 12 is mounted to the other end of the base link 11 in a manner rotatable about axis A2. The vertical link portion 13 is mounted to the other end of the front link 12. The vertical link portion 13 is positioned at the front end of the robotic arm 10. The vertical link portion 13 moves in the vertical direction, i.e., the Z direction. Additionally, a tool mounting portion 14 for mounting a threaded fastener 40 is disposed at the front end of the robotic arm 10. The tool mounting section 14 is configured at the front end of the vertical link section 13 in the robotic arm 10. The threaded fastener 40 mounted on the tool mounting section 14 rotates about axis A3 relative to the vertical link section 13.

[0035] Furthermore, the structure of robotic arm 20 is the same as that of robotic arm 10. That is, robotic arm 20 includes a base link 21, a front link 22, a vertical link portion 23, and a tool mounting portion 24. The structures of the base link 21, front link 22, vertical link portion 23, and tool mounting portion 24 are the same as those of the base link 11, front link 12, vertical link portion 13, and tool mounting portion 14, respectively. Robotic arms 10 and 20 rotate coaxially relative to the torso 31. One end of the base link 11 is positioned above the base link 21. One end of the base link 11 is rotatably mounted on the torso 31 via the base link 21. Specifically, one end of the base link 11 of robotic arm 10 and one end of the base link 21 of robotic arm 20 rotate about an axis A1, which is coaxial. One end of the front link 22 rotates about an axis A4 relative to the other end of the base link 21. A vertical link 23 is mounted at the other end of the front link 22. A tool mounting part 24 is disposed at the front end of the robotic arm 20, which can replaceably mount a position adjustment hand 50, a measuring part 60, and a reference determining hand 70. The tool mounting part 24 is disposed at the front end of the vertical link 23 in the robotic arm 20. The position adjustment hand 50, the measuring part 60, and the reference determining hand 70 mounted on the tool mounting part 24 rotate about axis A5 relative to the vertical link 23. A1, A2, A3, A4, and A5 axes are axes along the Z direction, which is the vertical direction, and are arranged parallel to each other. That is, robotic arms 10 and 20 are horizontal multi-joint robotic arms.

[0036] Furthermore, the vertical link 13 of the robotic arm 10 includes components 13a, 13b, and 13c. Components 13a and 13b are plate-shaped components. A tool mounting portion 14 is disposed on component 13c. The vertical link 13 raises and lowers component 13c by rotating components 13a and 13b about a predetermined axis, thereby moving the tool mounting portion 14 in the Z direction, which is the vertical direction. Specifically, component 13a rotates about axis A11 relative to the front link 12. Component 13b rotates about axis A12 relative to component 13a. Components 13a and 13b are plate-shaped components with a generally elongated oval shape. Component 13c rotates about axis A13 relative to component 13b. A11, A12, and A13 axes are horizontal axes and are arranged parallel to each other.

[0037] The vertical link 23 of the robotic arm 20 has the same configuration as the vertical link 13 of the robotic arm 10. That is, the vertical link 23 includes components 23a, 23b, and 23c. The configurations of components 23a, 23b, and 23c are the same as those of components 13a, 13b, and 13c, respectively. Specifically, component 23a rotates about axis A21 relative to the front link 22. Component 23b rotates about axis A22 relative to component 23a. Furthermore, component 23c rotates about axis A23 relative to component 23b. A21, A22, and A23 are horizontal axes and are arranged parallel to each other. The lifting component 23c of the vertical link 23 moves the tool mounting portion 24 along the Z direction, which is vertical.

[0038] Furthermore, the robot 100 is equipped with a drive unit that drives each joint of the robotic arm 10 and the robotic arm 20. For example, the drive unit includes a servo motor as the drive source and an encoder that detects the rotational angle position of the servo motor.

[0039] Furthermore, the robot 100 includes a control unit 33 and a storage unit 34. The control unit 33 and storage unit 34 are, for example, disposed inside the housing 32. The control unit 33 is, for example, a computer with a computing device such as a CPU (Central Processing Unit). The storage unit 34 includes a storage device containing flash memory such as an SSD (Solid State Drive). The control unit 33 is a robot controller that controls the movements of various parts of the robot 100 based on programs and parameters stored in the storage unit 34. That is, the storage unit 34 is an example of a computer-readable storage medium storing programs for causing the robot 100 to perform actions. The control unit 33 controls the movements of the robot 100 by executing the programs stored in the storage unit 34. The control unit 33 is an example of a control device.

[0040] The control unit 33 includes, for example, a main control unit that controls the movements of each joint of the robotic arm 10 and the robotic arm 20; a servo control unit that controls the drive current output by the servo motors configured as drive sources in each joint of the robotic arm 10 and the robotic arm 20 based on instructions from the main control unit; and a drive circuit unit that supplies power to each joint of the robotic arm 10 and the robotic arm 20. In the control unit 33, for example, the main control unit and the servo control unit each have a computing device such as a CPU. The control unit 33 controls the movements of the servo motors, which are drive sources, for each joint of the robotic arm 10 based on the output from the encoder, and controls the movements of the robotic arm 10 and the robotic arm 20 through feedback control. The control unit 33 controls the posture of the robotic arm 10 and the robotic arm 20 by controlling the movements of the drive units of each joint of the robotic arm 10 and the robotic arm 20.

[0041] (Threaded fastener) like Figure 3 As shown, the threaded fastener 40 has an engaging portion 41, a driving portion 42, a flat plate member 43, and a connecting portion 44. The threaded fastener 40 threads multiple threaded components F disposed on a reference guide rail 101 and a driven guide rail 102, thereby fixing the reference guide rail 101 and the driven guide rail 102 onto a mounting surface 103a. The threaded fastener 40 includes, for example, a screwdriver or nut wrench for threading bolts or other threaded components F. The engaging portion 41 engages with each of the multiple threaded components F by inserting it into the respective threaded heads. Furthermore, the threaded fastener 40 holds the multiple threaded components F in a sequentially attracted state by vacuum adsorption or magnetic force at the engaging portion 41. The driving portion 42 rotates the engaging portion 41 about the Z direction. The driving portion 42 includes, for example, a motor that operates under the control of a control portion 33. The flat plate member 43 is an elongated plate-shaped member disposed along an XY plane that is a horizontal plane. Figure 3 In this design, the extension direction of the flat plate member 43 is defined as the X direction, and the direction orthogonal to the X direction is defined as the Y direction. At the base end of the flat plate member 43 on the X2 direction side, a connecting portion 44, which connects to the tool mounting portion 14, is disposed on the surface on the Z1 direction side. At the front end of the flat plate member 43 on the X1 direction side, a driving portion 42 is disposed on the surface on the Z1 direction side, and on the surface below the driving portion 42 on the Z2 direction side, an engaging portion 41 extends downward in a direction perpendicular to the Z2 direction.

[0042] (Position adjustment hand) like Figure 4As shown, the position adjusting hand 50 includes an adjusting abutment 51, a moving mechanism 52, a force-applying member 53, a flat plate member 54, a connecting part 55, a retaining part 56, and a locking part 57. The position adjusting hand 50 adjusts the position of the driven guide rail 102 during the threaded tightening process. The adjusting abutment 51 includes abutment members 51a and 51b, and a flat plate member 51c. The adjusting abutment 51 abuts against the driven guide rail 102 for adjusting its position. The moving mechanism 52 causes the adjusting abutment 51 to slide. The force-applying member 53 applies force to the adjusting abutment 51 along the moving direction of the moving mechanism 52. The force-applying member 53 includes a spring member that extends and retracts along the moving direction of the moving mechanism 52. The force-applying member 53 is an elastic member that extends and retracts through elastic deformation and applies force using the elastic force generated by the elastic deformation. The flat plate component 54 is a slender plate-shaped component arranged along the XY plane, which is a horizontal plane. Figure 4 In this design, the extension direction of the flat plate member 54 is defined as the X direction, and the direction orthogonal to the X direction is defined as the Y direction. At the base end of the flat plate member 54 on the X2 direction side, a connecting portion 55, which connects to the tool mounting portion 24, is disposed on the surface on the Z1 direction side. At the front end of the flat plate member 54 on the X1 direction side, a force-applying member 53 is disposed on the surface on the Z1 direction side, and a moving mechanism 52 is disposed on the surface on the Z2 direction side.

[0043] Specifically, in the adjusting abutment portion 51, abutment members 51a, 51b, and plate member 51c move integrally. Plate member 51c is disposed on the Z2 direction side of the moving mechanism 52 and slides relative to plate member 54 in the X direction via the moving mechanism 52. Abutment members 51a and 51b are disposed on the Z2 direction side surface at the front end of the X1 direction side of plate member 51c. Abutment members 51a and 51b are arranged opposite each other in the X direction. Furthermore, a fixing portion 53a is disposed on the Z1 direction side surface at the front end of the X1 direction side of plate member 51c. The fixing portion 53a is fixed to plate member 51c, thereby moving integrally with the adjusting abutment portion 51. Additionally, a fixing portion 53b is disposed on the Z1 direction side surface at the front end of the X1 direction side of plate member 54. The fixing portion 53b is fixed to plate member 54. Furthermore, the force-applying member 53 is arranged along the X direction, with one end on the X1 direction side fixed to the fixing part 53a, which moves integrally with the adjusting abutment part 51, and the other end on the X2 direction side fixed to the fixing part 53b, which is fixed to the flat plate member 54. Therefore, the force-applying member 53 extends and retracts along the X direction in conjunction with the sliding movement of the adjusting abutment part 51 in the X direction, which is realized by the moving mechanism 52. In addition, the moving mechanism 52 does not have a drive source and supports the adjusting abutment part 51 in a slidable manner relative to the flat plate member 54.

[0044] like Figure 5 As shown, when the adjusting abutment 51 is not in contact with the driven guide rail 102, the force-applying member 53 is in a retracted state. In this case, the adjusting abutment 51 is forced by the force-applying member 53 toward the X2 direction side, which is the base end side, so that the base end of the flat plate member 51c of the adjusting abutment 51 in the X2 direction side abuts against the support 54a disposed on the Z2 direction side of the flat plate member 54. In this case, the adjusting abutment 51 and the flat plate member 54 move together by the movement of the robotic arm 20.

[0045] like Figure 6 As shown, the position adjustment hand 50 moves by pulling the driven guide rail 102 in a direction opposite to the reference guide rail 101, thereby adjusting the position of the driven guide rail 102 relative to the reference guide rail 101. In the position adjustment hand 50, the abutment members 51a and 51b of the adjustment abutment portion 51 are arranged to clamp the driven guide rail 102. The robotic arm 20 moves in the X2 direction toward the reference guide rail 101, causing the abutment member 51a to abut against the driven guide rail 102 in the X1 direction, thereby adjusting the position of the driven guide rail 102 relative to the reference guide rail 101. Here, when the robotic arm 20 moves in the X2 direction, the abutment member 51a abuts against the driven guide rail 102, thereby changing the position of the adjustment abutment portion 51 relative to the flat plate member 54 via the moving mechanism 52, causing the force application member 53 to extend. That is, relative to the movement of the flat plate component 54 and the robotic arm 20 as a unit, the adjusting abutment part 51 is in a state of contact with the driven guide rail 102. At this time, the flat plate component 51c of the adjusting abutment part 51 separates from the support part 54a of the flat plate component 54. When the robotic arm 20 is moved in the X2 direction, the position adjusting hand 50 adjusts the position of the driven guide rail 102 not by the driving force of the robotic arm 20, but by the force applied by the extended force-applying component 53 to retract.

[0046] Furthermore, when the robotic arm 20 is moved along the X1 direction, with Figure 5 Similarly, the flat plate member 51c of the adjusting abutment part 51 and the support part 54a of the flat plate member 54 are in abutment state. In this case, since the adjusting abutment part 51 and the flat plate member 54 move together, the abutment member 51b of the adjusting abutment part 51 abuts against the X2 direction side of the driven guide rail 102, and the driving force of the robotic arm 20 is directly transmitted to the driven guide rail 102.

[0047] In addition, such as Figure 4As shown, the retaining part 56 includes a plurality of insertion holes disposed on the flat plate member 54. The retaining part 56 retains a plurality of threaded members F. Specifically, the retaining part 56 includes a plurality of insertion holes for inserting a plurality of threaded members F to temporarily retain the plurality of threaded members F carried on the threaded configuration part 104 in the position adjustment hand 50. The engaging part 57 engages with the part described below. Figure 7 The engaging portion 68 is shown in the measuring section 60. The engaging portion 57 includes a plate-shaped member 57a that protrudes from the X2 direction side of the plate member 54 in the Y2 direction and a pin member 57b that extends from the plate-shaped member 57a downward in the Z2 direction.

[0048] (Measurement Department) like Figure 7 As shown, the measuring unit 60 includes a sensor unit 61, a moving member 62, an abutting member 63, a driving unit 64, a plate member 65, a supporting member 66, a connecting member 67, and a locking member 68. The measuring unit 60 measures the position of the driven guide rail 102 relative to the reference guide rail 101. Specifically, the measuring unit 60 measures the position of the driven guide rail 102 relative to a reference position on the reference guide rail 101 by measuring the distance between the driven guide rail 102 and the reference guide rail 101. The sensor unit 61 measures the distance to the detection target by emitting a detection light L. The moving member 62 is a component of the detection target that is irradiated by the detection light L from the sensor unit 61. The abutting member 63 is fixed to the moving member 62 and abuts against the driven guide rail 102. The driving unit 64 moves the moving member 62. The plate member 65 is an elongated plate-shaped member arranged along an XY plane that is horizontal. Figure 7 In this design, the extending direction of the flat plate member 65 is defined as the X direction, and the direction orthogonal to the X direction is defined as the Y direction. A connecting portion 67, which connects to the tool mounting portion 24, is disposed on the surface of the flat plate member 65 on the X2 direction side. An elongated, plate-shaped support member 66, arranged along the XZ plane, is disposed at the front end of the flat plate member 65 on the X1 direction side. The support member 66 is disposed along the X direction at the center of the flat plate member 65 in the Y direction.

[0049] Specifically, the sensor unit 61 is fixed to the surface of the support member 66 on the Y1 direction side in such a way that it emits a detection light L along the X1 direction. The sensor unit 61 has a light-emitting element and a light-receiving element. The distance between the sensor unit and the moving member 62 is measured by emitting the detection light L from the light-emitting element and detecting the detection light L reflected at the moving member 62, which is the detection target, by the light-receiving element. In addition, a drive unit 64 is mounted on the surface of the support member 66 on the Y2 direction side. The moving member 62 is an L-shaped plate member having a portion parallel to the support member 66 along the XZ plane and a portion along the YZ plane connected to the X1 direction side of the portion along the XZ plane. The portion of the moving member 62 along the YZ plane is opposite the sensor unit 61 in the X direction. The detection light L emitted from the sensor unit 61 is reflected at the portion of the moving member 62 along the YZ plane. The portion of the moving member 62 along the XZ plane is mounted on the drive unit 64. Driven by the drive unit 64, the moving member 62 moves relative to the plate member 65 and the support member 66 in the X direction. The drive unit 64 includes, for example, a pneumatic actuator that is operated under the control of the control unit 33. The abutment member 63 includes a cylindrical member that is fixed to the Z2 direction side of the moving member 62 and extends in the Z direction. Furthermore, four insertion holes 65a are provided on the plate member 65.

[0050] like Figure 8 As shown, threaded component F 60 The measuring part 60 is inserted into the four insertion holes 65a of the flat plate component 65. The threaded part F of the measuring part 60 passes through the four insertion holes 65a of the flat plate component 65. 60 The reference slider 101a is fastened and fixed to the reference guide rail 101. Additionally, the threaded component F... 60 The driven guide rail 102 is threaded and fastened by the threaded fastener 40. In determining the position of the driven guide rail 102 relative to the reference guide rail 101, the measuring unit 60, with the flat plate member 65 fixed to the reference slider 101a, moves the moving member 62 towards the driven guide rail 102 in the X1 direction via the drive unit 64. The moving member 62 stops moving when the abutting member 63 comes into contact with the driven guide rail 102 in the X2 direction. With the abutting member 63 in contact with the driven guide rail 102, the measuring unit 60 measures the distance to the moving member 62 via the sensor unit 61, thereby determining the distance of the driven guide rail 102 relative to the reference guide rail 101. That is, the measurement result of the distance to the moving member 62 measured by the sensor unit 61 is obtained as the measurement result of the distance of the driven guide rail 102 relative to the reference guide rail 101.

[0051] like Figure 7As shown, the engaging portion 68 has an opening along the Z direction. A pin member 57b, into which the engaging portion 57 of the position adjustment hand 50 is inserted, is inserted into the opening of the engaging portion 68. The engaging portion 68 is fixed to the front end of the flat plate member 65 on the X1 direction side, further towards the Y1 direction side than the support member 66 on the Z1 direction side surface. With the measuring portion 60 fixed to the reference slider 101a of the reference guide rail 101 and the position adjustment hand 50 mounted on the robotic arm 20, the robot 100 engages the engaging portion 57 of the position adjustment hand 50 with the engaging portion 68 of the measuring portion 60. Then, through the movement of the robotic arm 20 with the position adjustment hand 50 mounted, the robot 100 moves the measuring portion 60, which is fixed to the reference slider 101a of the reference guide rail 101, integrally with the reference slider 101a along the extending direction of the reference guide rail 101. In this embodiment, during each tightening of the threads of the multiple threaded components F, the measuring unit 60 moves along the reference guide rail 101, and simultaneously obtains a measurement result of the distance to the moving component 62 measured by the sensor unit 61. The measuring unit 60, for example, uses the position of the reference slider 101a in the reference guide rail 101 as a reference position, and determines the position of the driven guide rail 102 relative to the reference position by obtaining the measurement result measured by the sensor unit 61. That is, the reference position in the reference guide rail 101 changes according to the movement of the measuring unit 60.

[0052] (Baseline determination hand) like Figure 9 As shown, the reference determining hand 70 includes an abutment member 71, an abutment member 72, a flat plate member 73, and a connecting portion 74. The reference determining hand 70 positions the reference guide rail 101. The abutment members 71 and 72 abut against the reference guide rail 101 and the driven guide rail 102. One of the abutment members 71 and 72 abuts against the reference guide rail 101 and the other abuts against the driven guide rail 102. The reference determining hand 70 positions the reference guide rail 101 by abutting the abutment members 71 and 72 against the reference guide rail 101 and the driven guide rail 102. The abutment members 71 and 72 are disposed on the flat plate member 73. The flat plate member 73 is a T-shaped plate member disposed along the XY plane, which is a horizontal plane. The flat plate member 73 has a straight base portion 73a and a straight front portion 73b extending along the XY plane. The front end portion 73b is arranged in a direction orthogonal to the base end portion 73a in the XY plane. The flat plate component 73 forms a T-shape by connecting the front end of the base end portion 73a to the center of the front end portion 73b. Figure 9In this design, the extension direction of the base portion 73a is defined as the X direction, and the extension direction of the front end portion 73b, which is orthogonal to the X direction, is defined as the Y direction. At the base end of the base portion 73a on the X2 direction side of the flat plate member 73, a connecting portion 74, which connects to the tool mounting portion 24, is disposed on the surface on the Z1 direction side. At the front end of the base portion 73a on the X1 direction side of the flat plate member 73, an extended front end portion 73b is disposed on the Y direction side, and abutting members 71 and 72 are fixed to the surfaces on the Z2 direction side at both ends of the front end portion 73b. Each abutting member 71 and abutting member 72 comprises a cylindrical component extending in the Z direction.

[0053] (Robot control methods) Next, refer to Figures 10 to 17 The robot control method in the robot 100 of this embodiment will be described. The control processing of steps S1 to S4 in the robot control method of this embodiment, and each control processing included in step S4, is implemented by the control unit 33 executing the program stored in the storage unit 34.

[0054] First, such as Figure 10 As shown, in step S1, multiple threaded components F are arranged on the reference guide rail 101 and the driven guide rail 102. Before starting the thread tightening of the multiple threaded components F, the control unit 33 inserts each of the multiple threaded components F into the insertion holes H arranged on the mounting surface 103a of the base component 103, respectively, using the thread tightening hand 40.

[0055] Specifically, to configure multiple threaded components F, the control unit 33 first installs a thread-fastening hand 40 on the tool mounting portion 14 located at the front end of the robotic arm 10, and a position adjustment hand 50 is installed on the tool mounting portion 24 located at the front end of the robotic arm 20. Then, the control unit 33 causes the multiple threaded components F configured in the threaded configuration portion 104 to be individually engaged in the engaging portion 41 of the thread-fastening hand 40, thereby moving and holding them in the holding portion 56 of the position adjustment hand 50. Then, when inserting each of the multiple threaded components F into the insertion hole H, the control unit 33 uses the thread-fastening hand 40 to insert each of the multiple threaded components F held in the holding portion 56 of the position adjustment hand 50 into the respective insertion holes H of the reference guide rail 101 and the driven guide rail 102. That is, similar to the case where they are held in the holding portion 56, the control unit 33 causes the multiple threaded components F held in the holding portion 56 to be individually engaged in the engaging portion 41 of the thread-fastening hand 40, thereby inserting them into the insertion holes H one by one. Furthermore, after inserting the threaded component F into the insertion hole H, the control unit 33 rotates the engaging part 41 several times, thereby engaging the threaded component F into the threaded hole of the mounting surface 103a. That is, in step S1, the control unit 33 inserts multiple threaded components F into the insertion hole H and configures them to engage with the threaded hole of the mounting surface 103a by 2 or 3 thread pitches without tilting.

[0056] Next, in step S2, the reference guide rail 101 is fixed to the mounting surface 103a. In this embodiment, before tightening the threads of the plurality of threaded components F, the control unit 33 removes the position adjustment hand 50 mounted on the tool mounting part 24 of the robotic arm 20 and installs the reference determining hand 70 on the tool mounting part 24. The removed position adjustment hand 50 is, for example, carried in the tool placement part 105. Moreover, the control unit 33 positions the reference guide rail 101 by abutting the reference determining hand 70 of the robotic arm 20 against the reference guide rail 101, and simultaneously tightens the threads using the thread tightening hand 40 of the robotic arm 10, thereby fixing the reference guide rail 101 to the mounting surface 103a.

[0057] like Figure 11As shown, a straight protrusion, i.e., a wall portion 103b, protruding in the Z1 direction is provided on the mounting surface 103a of the base component 103, which is equipped with a reference guide rail 101 and a driven guide rail 102. The control unit 33 uses a reference determining hand 70 to press the reference guide rail 101 onto the wall portion 103b along the horizontal plane, and at the same time uses a threaded fastening hand 40 to tighten the threaded component F inserted into the insertion hole H, thereby securing the reference guide rail 101 in a positioned state. The wall portion 103b abuts against the side of the reference guide rail 101 opposite to the side of the driven guide rail 102. For example, with the reference determining hand 70 mounted on the robotic arm 20, the control unit 33 rotates the reference determining hand 70 around the A5 axis, causing the abutment member 71 of the reference determining hand 70 to abut against the side of the driven guide rail 102 of the reference guide rail 101, and the abutment member 72 to abut against the side of the reference guide rail 101 of the driven guide rail 102. Then, the control unit 33 applies force by rotating the reference determining hand 70 around the A5 axis, thereby pressing the reference guide rail 101 against the wall portion 103b, which serves as a reference. In this state, the control unit 33 uses the threaded fastening hand 40 to sequentially tighten the threads of multiple threaded components F, thereby fixing the reference guide rail 101 onto the mounting surface 103a. For example, the control unit 33 sequentially tightens the threads of multiple threaded components F arranged in a straight line on the reference guide rail 101 one by one, starting from one end and moving in one direction. Each time the control unit 33 tightens the thread of a threaded component F, it moves the position of the reference determining hand 70 along the extension direction of the reference guide rail 101, and simultaneously tightens the threads of each of the multiple threaded components F in sequence on the reference guide rail 101.

[0058] Next, in Figure 10 In step S3, the measuring unit 60 is positioned on the reference slider 101a of the reference guide rail 101. In this embodiment, before tightening the threads of the multiple threaded components F, the control unit 33 removes the reference determining hand 70 mounted on the tool mounting part 24 of the robotic arm 20 and installs the measuring unit 60 on the tool mounting part 24. Furthermore, the removed reference determining hand 70 is carried on the tool placement part 105. Then, the control unit 33 installs the measuring unit 60 on the tool mounting part 24, thereby positioning the measuring unit 60 on the reference slider 101a, which moves on the reference guide rail 101, via the movement of the robotic arm 20. At this time, the control unit 33 uses the thread tightening hand 40 of the robotic arm 10 to tighten the threads of the threaded components F positioned in the insertion hole 65a of the measuring unit 60. 60 The measuring part 60 is fixed to the reference slider 101a by threading the threaded component F. 60It is configured to be pre-inserted into the insertion hole 65a of the measuring unit 60. Furthermore, after the measuring unit 60 is fixed to the reference slider 101a, the control unit 33 removes the measuring unit 60 from the tool mounting part 24 of the robotic arm 20.

[0059] Next, in step S4, the driven guide rail 102 is fixed to the mounting surface 103a in a state where it is arranged parallel to the reference guide rail 101. After the measuring unit 60 is configured, the control unit 33 installs the position adjustment hand 50 onto the tool mounting part 24 of the robot arm 20. Then, based on the measurement results obtained by the measuring unit 60, the control unit 33 adjusts the position of the driven guide rail 102 using the position adjustment hand 50, and simultaneously uses the thread tightening hand 40 to sequentially tighten the threads of each of the multiple threaded components F. Furthermore, the control processing in step S4 is performed with the thread tightening hand 40 installed on the tool mounting part 14 of the robot arm 10 and the position adjustment hand 50 installed on the tool mounting part 24 of the robot arm 20.

[0060] (Fixing of the driven guide rail) Here, as Figure 12 As shown, the control process for fixing the driven guide rail 102 in step S4 is executed through the control processes in steps S11 to S16.

[0061] First, a reference measurement result is obtained in step S11. In this embodiment, the control unit 33 obtains a reference measurement result as a reference during the process of adjusting the position of the driven guide rail 102 relative to the reference guide rail 101, and uses the obtained reference measurement result as a reference to perform thread tightening of multiple threaded components F.

[0062] For example, such as Figure 13 As shown, multiple threaded components F are arranged in a straight line on the driven guide rail 102. The control unit 33 uses a thread-fastening hand 40 to thread-fasten a reference threaded component F0, which serves as a reference among the multiple threaded components F arranged in a straight line on the driven guide rail 102, at the reference thread-fastening position on the driven guide rail 102, i.e., the insertion hole H0. Furthermore, a reference measurement position P is established corresponding to the position on the driven guide rail 102 where the reference threaded component F0 is threaded and the insertion hole H0 is located. D0 At this point, the measuring unit 60 obtains a reference measurement result of the position relative to the reference position of the reference guide rail 101. Furthermore, in the following description, the vertical direction is referred to as the Z direction, the extension direction of the driven guide rail 102 is referred to as the U direction, and the direction in which the driven guide rail 102 is opposed to the reference guide rail 101 is referred to as the V direction.

[0063] like Figure 14As shown, the reference threaded component F0 is the threaded component F disposed at one end on the U1 direction side among a plurality of threaded components F arranged along the U direction of the driven guide rail 102. The reference threaded component F0 is inserted into the insertion hole H0 disposed at one end of the driven guide rail 102. In the process of obtaining the reference measurement result in step S11, firstly, the control unit 33 pre-tightens the reference threaded component F0 at the insertion hole H0 using the thread tightening hand 40. "Pre-tightening" means that after the reference threaded component F0 is tightened to the deepest point using the thread tightening hand 40, the engaging part 41 of the thread tightening hand 40 is rotated in the opposite direction by about 1 / 4 turn to 1 turn, so that the tightening is slightly loose. Then, the control unit 33 removes the thread tightening hand 40 and uses the position adjustment hand 50 to maintain the position of the insertion hole H0 of the driven guide rail 102, pressing the driven guide rail 102 against the protrusion 103c disposed on the mounting surface 103a. The protrusion 103c is a portion that protrudes in the Z1 direction from the mounting surface 103a, abutting against the V2 direction side of the driven guide rail 102. It is a portion configured for reference determination. With the adjustment abutment 51 of the position adjustment hand 50 positioned in the U direction at the same position as the insertion hole H0, the control unit 33 uses the robotic arm 20 to move the position adjustment hand 50 towards the V2 direction side. As a result, by abutting the adjustment abutment 51 against the driven guide rail 102, the driven guide rail 102 is pressed against the V2 direction side and pressed against the protrusion 103c. Then, after moving the position adjustment hand 50 back to the U2 direction side, the control unit 33 uses the threaded fastening hand 40 of the robotic arm 10 to finally fasten the reference threaded component F0.

[0064] After the control unit 33 finally tightens the reference threaded component F0, it moves the measuring unit 60 to the reference measuring position P. D0 Specifically, the control unit 33, through the movement of the robotic arm 20, causes the engaging part 57 of the position adjusting hand 50 to engage with the engaged part 68 of the measuring unit 60, thereby moving the reference slider 101a to move the measuring unit 60 to the reference measuring position P. D0 Reference measurement position P D0 To ensure that the driven guide 102, starting from the threaded fastening position of the reference threaded component F0, i.e., the position of the insertion hole H0, faces towards... Figure 13 The threaded fastening position of the adjacent threaded component F1 shown is the position offset in the U2 direction from the insertion hole H1. Furthermore, the control unit 33 positions the measuring unit 60 at the reference measuring position P. D0 In this case, the contacting member 63 of the measuring unit 60 becomes the reference measuring position P of the driven guide rail 102. D0 The measuring unit 60 is configured in a contact position. The position of the reference slider 101a at this time becomes the reference measuring position P. D0 The reference position of the reference guide rail 101 is measured. Furthermore, Figure 14The illustration shows the measuring unit 60 moving in the U direction, and also shows the state before the moving member 62, which is fixed to the abutment member 63, is moved toward the V1 direction by the driving unit 64.

[0065] The control unit 33 positions the measuring unit 60 at the reference measuring position P. D0 Subsequently, the measurement result obtained by the measuring unit 60 is used as the reference measurement result. Furthermore, in this embodiment, the control unit 33 uses the reference measurement result as the reference for the measurement obtained by the measuring unit 60. For example, the control unit 33 measures the measurement result at the reference measurement position P. D0 The value of the reference measurement result obtained at the location is set to "0" of the measurement result measured by the measurement unit 60, thereby using the reference measurement result as the reference for the measurement measured by the measurement unit 60. That is, "obtaining the reference measurement result" includes measuring the zero point that serves as the measurement reference of the measurement unit 60.

[0066] Next, as Figure 12 As shown, in step S12, the threaded component F is tightened. The control unit 33 uses the reference measurement result as a reference to tighten the thread of one of the multiple threaded components F as the target. The control unit 33 uses the measurement unit 60 at the reference measurement position P of the driven guide rail 102. D0 The measurement result obtained at the reference point is used as the reference. The position of the driven guide rail 102 is adjusted by the position adjustment hand 50. At the same time, the thread fastening hand 40 is used to fasten the thread of one of the multiple threaded parts F as the target.

[0067] like Figure 13 As shown, in this embodiment, starting from the position adjacent to the reference threaded component F0, a plurality of threaded components F1, F2, F3, ... are arranged in a straight line in sequence on the driven guide rail 102. The plurality of threaded components F1, F2, F3, ... are respectively inserted into insertion holes H1, H2, H3, ... which serve as insertion holes H, and are threaded fastened. The control unit 33 sequentially threads each of the linearly arranged threaded components F1, F2, F3, ... in one direction, namely the U2 direction. That is, the control unit 33 sequentially threads each of the plurality of threaded components F, starting from the position where the reference threaded component F0 is threaded.

[0068] <Threaded fastening of threaded components> like Figure 15 As shown, the control process for tightening the thread of the threaded component F in step S12 is performed through the control processes in steps S21 to S29. Furthermore, in the description of steps S21 to S29, an insertion hole H inserted into the driven guide 102...n One of the threaded components F n The threaded fastening will be explained. Furthermore, n = 1, 2, 3, ...

[0069] First, in step S21, the measuring unit 60 is positioned in relation to the threaded component F. n The measurement position P corresponding to the position tightened by the thread Dn .like Figure 16 As shown, the measurement location P Dn Configured on the driven guide rail 102 to a threaded component F n The thread tightening position for thread tightening is the insertion hole H. n The position P is different from the threaded fastening position of the driven guide 102. Tn Between. Measurement location P Dn For use with a threaded component F n The position corresponding to the threaded fastening position, that is, in a threaded component F n The measuring part 60 is positioned at the location where it is threaded fastened. Measuring position P Dn For each of the multiple threaded components F, the position is distinct. For example, the position P is measured. Dn For the threaded component F n Insertion hole H secured by threads n Starting from the position, the position is offset by a specified distance along the U2 direction. The measuring unit 60 is positioned at the reference measuring position P. D0 Similarly, the control unit 33 engages the engaging part 57 of the position adjustment hand 50 with the engaging part 68 of the measuring unit 60, and moves the measuring unit 60 to the measuring position P by moving the reference slider 101a. Dn Furthermore, the measuring unit 60 is positioned at the reference measuring position P. D0 Similarly, the control unit 33 positions the measuring unit 60 at the measuring position P. Dn In this case, the contacting member 63 of the measuring unit 60 is positioned at the measuring position P of the driven guide rail 102. Dn The measuring unit 60 is configured in a contact position with the reference measuring position P. D0 Similarly, the position of the moved reference slider 101a is called the measurement position P. Dn The reference position of the reference guide rail 101 is determined at the location.

[0070] Next, in Figure 15 In step S22, the position P is adjusted. Tn It is equipped with a position adjustment handle 50. For example... Figure 16 As shown, the control unit 33 positions the measuring unit 60 at the measuring position P. DnNext, the engagement between the engaging portion 57 of the position adjusting handle 50 and the engaged portion 68 of the measuring unit 60 is released. Then, the control unit 33 moves the position adjusting handle 50 to the adjustment position P. Tn Adjust position P. Tn Configured relative to a threaded component F n The threaded fastening position is the insertion hole H. n On the opposite side of the reference thread fastening position where the reference threaded component F0 is threaded, i.e., the position of the insertion hole H0. In this embodiment, relative to the insertion hole H n The measuring position P is located at a position offset by a specified distance in the direction of U2. Dn Furthermore, an adjustment position P is configured at the position after moving further in the U2 direction. Tn In a threaded component F n During the thread tightening process, adjust position P Tn Configured relative to a threaded component F n The threaded fastening position is the insertion hole H. n The position is above the specified adjustment distance. The specified adjustment distance is based on the tightening torque of multiple threaded components F. Specifically, the adjustment position P... Tn Configured relative to the insertion hole H n The position is defined as the distance between at least two of the multiple threaded components F arranged in a straight line and separated by a predetermined adjustment distance. For example, the adjustment position P. Tn Configured from the insertion hole H n The position of the five components of the multiple threaded components F arranged in a specific configuration is separated by this. For example, when the threaded component F has an M5 thread, the position P is adjusted. Tn Configured relative to the insertion hole H, which serves as the threaded fastening position n And at a position 200mm above the specified adjustment distance. Furthermore, the tightening torque of the multiple threaded components F is, for example, 6.2 N·m. In one threaded component F... n During the thread tightening process, in order to perform position adjustment by the position adjustment hand 50 in several threaded states among multiple threaded components F, the position P is adjusted. Tn Configured relative to the insertion hole H, which serves as the threaded fastening position n And the position is above the specified adjustment distance. In addition, the measurement position P... Dn Configured from the insertion hole H n It is offset by a distance less than the spacing of one of the multiple threaded parts F arranged in the same configuration.

[0071] Next, in Figure 15 In step S23, the threaded fastener 40 is configured on a threaded component F n The threaded fastening position is the insertion hole H. n At the location.

[0072] Next, in step S24, the threaded component F is... n Pre-tightening. Similar to the pre-tightening of the reference threaded component F0, the control unit 33 is in the insertion hole H. n Use a threaded fastener 40 to fasten a threaded component F. n Pre-tighten.

[0073] Next, in step S25, the position of the driven guide rail 102 is adjusted. For example... Figure 16 As shown, the control unit 33 obtains the measurement unit 60 at the measurement position P. Dn The measurement results are obtained at the same time, and the adjustment position P of the adjustment abutment part 51 of the position adjustment hand 50 and the driven guide rail 102 is adjusted. Tn In the contact state, the robotic arm 20 moves towards the V2 direction, thereby adjusting the position of the driven guide rail 102 using the force applied by the force-applying component 53. The control unit 33 uses the force applied by the force-applying component 53 to move the driven guide rail 102 along the V2 direction, which is the V direction opposite to the reference guide rail 101, thereby adjusting the position of the driven guide rail 102. Furthermore, if the driven guide rail 102 moves too far towards the V2 direction, the control unit 33 moves the driven guide rail 102 towards the V1 direction by a predetermined distance using the movement of the robotic arm 20, and then moves the driven guide rail 102 along the V2 direction using the force applied by the force-applying component 53, thereby adjusting the position of the driven guide rail 102. Here, by the movement of the position adjustment hand 50, the driven guide rail 102 moves in a rotating manner along the V direction, using the U1 direction side, i.e., the threaded fastening position side, as a fulcrum. In this case, the position P is measured. Dn Configured in the threaded fastening position and the adjustment position P Tn Therefore, the measurement unit 60 measures the value at measurement position P. Dn The amount of movement of the driven guide 102 at position P is less than that at the adjustment position P. Tn The amount of movement of the driven guide rail 102 is achieved by the position adjustment hand 50.

[0074] Next, in Figure 15 In step S26, it is determined that the measuring unit 60 is at the measuring position P. DnThe measurement result is checked to determine whether it falls within the specified tightening error range based on the reference measurement result. The tightening error range is, for example, -3μm to +3μm. If the measurement result is determined to be within the tightening error range, proceed to step S27. If it is determined to be outside the tightening error range, return to step S25 and readjust the position.

[0075] In step S27, the threaded component F is... n Final tightening. Measuring section 60 at measuring position P. Dn If the measured results are within the specified tightening error range, the control unit 33 uses the thread tightening hand 40 to tighten a threaded component F. n The final tightening.

[0076] Next, in step S28, it is determined that the measuring unit 60 is at the measuring position P. Dn Whether the measured result is within the specified tightening error range. The tightening error range is wider than the tightening error range of -3μm to +3μm, for example, -4μm to +4μm. At the measurement location P... Dn If the measurement results at the location are included within the error range after tightening, a threaded component F n The control process ends when the thread tightening is completed. The measurement position P is determined to be... Dn If the measurement results at the location are not included in the error range after tightening, proceed to step S29.

[0077] In step S29, on the threaded component F n If, after thread tightening, the measurement result is no longer included in the post-tightening error range, then the threaded component F, which was finally tightened in step S27, is released. n Tighten the threads. Then, return to step S25 and redo the position adjustment performed by the position adjustment hand 50.

[0078] implement Figure 15 The control processing shown in steps S21 to S29 is executed thereby. Figure 12 The threaded component F is processed through step S12 n The threaded fastening control process. As described above, the threaded component F is controlled through step S12. n During the thread tightening process, the control unit 33 and the measuring unit 60 are at the reference measuring position P. D0 The baseline measurement result obtained at the measurement position P is used as the baseline, based on the measurement unit 60 at the measurement position P. Dn The measurement results obtained at point P were used to adjust the position using the position adjustment hand 50. TnAdjust the position of the driven guide rail 102, and simultaneously use the threaded fastener 40 to insert it into the threaded fastening position, i.e., the hole H. n At the location of the threaded component F n Tighten the threads. Furthermore, the thread tightening position is the insertion hole H. n Position, Adjust position P Tn and the measurement location P Dn Each of the multiple threaded components F is different. During each thread tightening process of the multiple threaded components F, the control unit 33 moves the thread tightening hand 40, the position adjusting hand 50, and the measuring unit 60 to the insertion hole H corresponding to each of the multiple threaded components F. n Position, Adjust position P Tn and the measurement location P Dn Then, after executing step S12, proceed to... Figure 12 Step S13.

[0079] In step S13, the reference measurement result is re-acquired. The control unit 33 engages the engaging part 57 of the position adjustment hand 50 with the engaging part 68 of the measuring part 60, thereby moving the measuring part 60 of the reference slider 101a disposed on the reference guide rail 101 and re-acquiring the reference measurement position P. D0 The reference measurement result at the location. That is, after the thread of a threaded component F is tightened, the control unit 33 moves the measuring unit 60 back to the reference measurement position P. D0 The reference measurement results are then re-acquired, thereby resetting the zero point of the measurement unit 60. The control unit 33 re-acquires the reference measurement results without releasing the thread fastening of the reference threaded component F0.

[0080] Next, in step S14, a confirmation action is performed. The control unit 33 uses the reference measurement result re-obtained in step S13 as a reference to obtain the measurement result measured by the measurement unit 60, thereby performing a confirmation action to confirm whether the thread tightening of the threaded component F is properly completed. Furthermore, in this embodiment, the confirmation action is performed on both the threaded component F that was currently threaded in step S12 and the threaded component F that was threaded previously.

[0081] <Confirmation Action> like Figure 17 As shown, the control processing for the confirmation action in step S14 is executed through the control processing in steps S31 to S35. Furthermore, in the description of steps S31 to S35, it is explained that an insertion hole H inserted into the driven guide rail 102 in step S12 is described. n One of the threaded components F n The operation confirms the tightness of the threaded fasteners. Furthermore, n = 1, 2, 3, ...

[0082] First, in step S31, the previous threaded component F is determined. n-1 Does it exist? Is there a threaded component F that is currently threaded and tightened? n In the case of a threaded component F1 adjacent to a reference threaded component F0, the preceding threaded component F n-1 Therefore, it does not exist. On the other hand, the current threaded component F n In the case of a threaded component F2 or later, the preceding threaded component F... n-1 Yes, it exists. That is, when n=1, the previous threaded component F n-1 It does not exist when n is 2 or higher; the previous threaded component F n-1 Exists. This is because n is greater than 2 and the previous threaded component F... n-1 If it exists, proceed to step S32. If the determination is that n is 1 and the previous threaded component F... n-1 If it does not exist, proceed to step S34.

[0083] In step S32, in the previous threaded component F n-1 If it exists, determine the previous threaded component F. n-1 Whether the measurement results are within the specified error range for verification. Before determining whether the previous threaded component F... n-1 If the measurement results are within the specified verification error range, proceed to step S34. If the previous threaded component F is determined to be... n-1 If the measurement result is not included within the specified verification error range, proceed to step S33. The verification error range is wider than the tightening error range and the tightened error range, for example, -5μm or more and +5μm or less. Specifically, the control unit 33 moves the measuring unit 60 to the position relative to the previous threaded component F. n-1 The position where the thread is fastened is the insertion hole H. n-1 The corresponding measurement location P Dn-1 At the location, and obtain the measurement location P. Dn-1 The measurement results at the location. Then, the control unit 33 uses the reference measurement results re-acquired in step S13 as a reference to determine whether it is consistent with the previous threaded component F. n-1 Corresponding measurement location P Dn-1 Whether the measurement results at the location are included in the error range during confirmation.

[0084] In step S33, due to the previous threaded component F n-1 Corresponding measurement location P Dn-1 The measurement results at that location were not included in the error range during confirmation, therefore the previous threaded component F was released. n-1 and the current threaded component F nThe threads on both sides are tightened. Then, the control process for the confirmation action in step S14 ends.

[0085] In step S34, the current threaded component F is determined. n Whether the measurement results are within the specified error range for verification. In determining the current threaded component F... n If the measurement results are within the specified error range for confirmation, in the case of the previous threaded component F n-1 and the current threaded component F n If either of these two methods determines that the measurement result is within the error range at the time of confirmation, then the current threaded component F is confirmed. n Once the thread tightening is complete, the control processing for the confirmation action in step S14 ends. The current threaded component F is determined to be... n If the measurement result is not included within the specified error range for confirmation, proceed to step S35. Specifically, the control unit 33 moves the measuring unit 60 to a position relative to the current threaded component F. n The position where the thread is fastened is the insertion hole H. n Corresponding measurement location P Dn And measure the measurement location P again. Dn The measurement results at the location. Then, the control unit 33 uses the reference measurement results re-acquired in step S13 as a reference to determine the relationship with the current threaded component F. n Corresponding measurement location P Dn Whether the measurement results at the location are included in the error range during confirmation.

[0086] In step S35, due to the current threaded component F n Corresponding measurement location P Dn The measurement results at this location are not included in the error range during confirmation; therefore, the current threaded component F... n The final tightening of the threaded fastener is released. Then, the control process for the confirmation action in step S14 ends.

[0087] By execution Figure 17 The control processes shown in steps S31 to S35 are executed. Figure 12 The control processing of the confirmation action through step S14. Then, proceed to... Figure 12 Step S15.

[0088] In step S15, it is determined whether the thread tightening of all threaded components F is complete. If it is determined that the thread tightening of all threaded components F is complete, proceed to step S16. If it is determined that the thread tightening of all threaded components F is incomplete, return to step S12 and begin tightening the thread of the next threaded component F. Furthermore, in the confirmation action in step S14, the current threaded component F...n And the previous threaded component F n-1 With the threaded fasteners on both sides released, the first threaded component F... n-1 Once again, it serves as the target for thread tightening and returns to step S12, thereby removing the thread from the previous threaded component F. n-1 The threads are then re-tightened. During the confirmation action in step S14, the current threaded component F... n If the threaded fastener is released, the current threaded component F will be... n Once again targeting the threaded fastening, return to step S12, thereby redoing the position adjustment performed by the position adjustment hand 50, and redoing the current threaded component F. n The threaded fastening. In the confirmation action of step S14, up to the current threaded component F... n Continue tightening the threads until the process is complete, and then proceed to the next threaded component F, provided it is confirmed to be properly tightened. n+1 To become the target of new thread fastening. That is, control unit 33 in the current threaded component F n After the thread tightening was completed, the reference measurement results were obtained again, and the results were used as a reference to confirm the compatibility with the current threaded component F. n The measurement results corresponding to the position of the threaded fastener and the previous threaded component F n-1 If the measurement results corresponding to the threaded fastening positions are all within the error range during confirmation, then proceed to the next threaded component F. n+1 The threaded fastening action.

[0089] Next, in step S16, a confirmation operation is performed for all threaded components F. In step S16, the control unit 33 re-acquires the reference measurement results and, using these re-acquired reference measurement results as a reference, moves the measurement unit 60 to the respective measurement positions P of the multiple threaded components F. Dn The control unit 33 then re-obtains the measurement results corresponding to each of the multiple threaded components F. Next, it performs a verification operation to confirm whether all the re-obtained measurement results for each of the multiple threaded components F are within the verification error range of -5μm to +5μm. Furthermore, if there are threaded components F whose measurement results are not within the verification error range, the control unit 33 releases the thread fastening of all threaded components F that were previously threaded and then readjusts their positions.

[0090] As described above, in this embodiment, after the control unit 33 tightens the thread of a threaded component F, it re-obtains the reference measurement position P. D0Using the newly obtained reference measurement result as a reference, the position of the driven guide rail 102 is adjusted using the position adjustment hand 50, and the thread tightening hand 40 is used to tighten the thread of the next threaded component F among the multiple threaded components F. During the thread tightening process of each of the multiple threaded components F, the control unit 33 re-obtains the reference measurement position P corresponding to the position where the reference threaded component F0 is threaded. D0 The reference measurement results are obtained at the reference point, and the threads of each of the multiple threaded components F arranged in a straight line are tightened sequentially in one direction. In addition, during the thread tightening process of each of the multiple threaded components F, the control unit 33 obtains the reference measurement results again for each of the multiple threaded components F without unfastening the thread of the reference threaded component F0, and tightens the threads of each of the multiple threaded components F sequentially.

[0091] (Effects of this implementation method) In this embodiment, as described above, the robot 100 includes a control unit 33, which, after tightening a threaded component F, re-obtains the reference measurement position P. D0 Using the newly obtained reference measurement result as a reference, the position of the driven guide rail 102, which is the target component, is adjusted using the position adjustment hand 50. Simultaneously, the thread tightening hand 40 tightens the threads of the next threaded component F among multiple threaded components F. Therefore, after tightening the threads of one threaded component F by the control unit 33, the reference measurement result is re-obtained. Thus, even if the position of the driven guide rail 102 shifts due to the tightening of one threaded component F, the actual reference measurement position P of other parts of the driven guide rail 102 relative to the threaded component F after tightening can still be measured. D0 The offset. Therefore, at the actual reference measurement position P D0 When the positional relationship between the next threaded component F and the position where it is threaded has shifted, it is possible to prevent the next threaded component F from being threaded, thus improving the position of the next threaded component F being threaded relative to the actual reference measurement position P. D0 The accuracy is improved. As a result, when the driven guide 102 is threaded and fixed by multiple threaded parts F, the positional accuracy of the fixed driven guide 102 can be improved.

[0092] Here, the displacement of the driven guide rail 102 due to the threaded fastening of a threaded component F is, for example, a few μm. The driven guide rail 102, which serves as a guide for the driven slider 102a (a driven base component), is arranged parallel to the reference guide rail 101, which serves as a guide for the reference slider 101a (a reference base component). Thus, when a target mounted on the reference slider 101a and driven slider 102a is moved linearly, as long as the reference guide rail 101 and driven guide rail 102 are arranged parallel to each other, even if the entire driven guide rail 102 is offset by a few μm relative to the entire reference guide rail 101, the effect on the linear movement of the target mounted on the reference slider 101a and driven slider 102a is minimal. Therefore, after threading a threaded component F, even if the reference measurement position P is re-obtained... D0 The position of the driven guide 102 relative to the reference guide 101 is changed due to the reference measurement results, and the effect on the linear movement of the target mounted on the reference slider 101a and the driven slider 102a is also small.

[0093] On the other hand, when the driven guide 102 is configured with an inclination of a few μm relative to the reference guide 101, the parallelism of the driven guide 102 relative to the reference guide 101 decreases, thus increasing the impact on the linear movement of the target mounted on the reference slider 101a and the driven slider 102a. In contrast, in this embodiment, by re-obtaining the reference measurement position P... D0 Using the reference measurement result obtained at the current location as a reference, the position of the driven guide rail 102, which is the target component, is adjusted using the position adjustment hand 50. Simultaneously, the thread tightening hand 40 is used to tighten the threads of the next threaded component F among multiple threaded components F. Thus, after tightening the threads of one threaded component F, the reference measurement position P is obtained again. D0 The reference measurement results at the location can be used to improve the position of the next threaded component F being threaded relative to the actual reference measurement position P. D0 The accuracy is such that even when the relative position of the driven guide 102 as a whole with respect to the reference position of the reference guide 101 is offset, the next threaded component F can be prevented from being threaded. Therefore, the positional accuracy of the fixed driven guide 102 can be improved, and the overall configuration direction accuracy of the driven guide 102 can be improved, thereby improving the parallelism accuracy of the driven guide 102 with respect to the reference guide 101. In other words, by re-obtaining the reference measurement results, the positional accuracy can be improved where required precision is needed.

[0094] The control unit 33 uses the thread tightening hand 40 to tighten the thread of the reference threaded component F0, which serves as a reference among the multiple threaded components F, and measures the reference measurement position P corresponding to the position where the reference threaded component F0, which serves as the target component, is tightened. D0 At this location, the measuring unit 60 obtains a reference measurement result of the position relative to the reference position. Furthermore, during the thread tightening process of each of the plurality of threaded components F, the control unit 33 re-obtains, for each of the plurality of threaded components F, the reference measurement position P corresponding to the position where the reference threaded component F0 is threaded. D0 Based on the reference measurement results, the threaded components F are sequentially tightened one by one, starting from the position where the reference threaded component F0 is threaded. Thus, by sequentially tightening one by one the multiple threaded components F starting from the position where the reference threaded component F0 is threaded, the multiple threaded components F can be easily tightened without the robot 100 having to move back and forth on the driven guide 102 to position the multiple threaded components F at their respective positions.

[0095] During the thread tightening process of each of the multiple threaded components F, the control unit 33, for each of the multiple threaded components F, does not release the thread tightening of the reference threaded component F0, but instead re-obtains the reference measurement position P corresponding to the position where the reference threaded component F0 is threaded. D0 The reference measurement results are used to simultaneously tighten the threads of each of the multiple threaded components F in sequence. However, if the thread tightening of the reference threaded component F0 is released when the reference measurement results are re-obtained, it is assumed that the reference has shifted during the thread tightening process of the multiple threaded components F. In this case, the thread tightening of the multiple threaded components F is based on different references, therefore, the accuracy of fixing the position of the driven guide 102, which is the target component, is considered to decrease. Considering this, in this embodiment, during the thread tightening process of each of the multiple threaded components F, the reference measurement position P corresponding to the position where the reference threaded component F0 is threaded is re-obtained without releasing the thread tightening of the reference threaded component F0. D0 The reference measurement results at the location can prevent the threading of multiple threaded parts F from being based on different references. As a result, when multiple threaded parts F are used to fix the driven guide 102 by threading, the accuracy of the fixed position of the driven guide 102 can be further improved.

[0096] The measuring unit 60 measures the position of the driven guide rail 102 relative to a reference position, which is a reference position on a reference guide rail 101, which is a reference component and is separately arranged from the driven guide rail 102, which is the target component. The threaded fastener 40 threadedly fastens a plurality of threaded components F arranged in a straight line on the driven guide rail 102 to fix the driven guide rail 102 in a state of parallel arrangement along the reference guide rail 101. The driven guide rail 102 is a straight driven guide rail 102 that serves as a guide for the linear movement of the driven slider 102a of the driven base component, and the reference guide rail 101 is a straight reference guide rail 101 that serves as a guide for the linear movement of the reference slider 101a of the reference base component. Therefore, when the linear driven guide 102 is fixed in a state where it is arranged parallel to the linear reference guide 101, the reference measurement results are obtained again. Thus, when the driven guide 102 is fixed by threaded fastening using multiple threaded components F, the accuracy of the fixed position of the driven guide 102 can be effectively improved. Therefore, the linear driven guide 102 can be arranged parallel to the linear reference guide 101 effectively and accurately.

[0097] The measuring unit 60 measures the position of the driven guide rail 102 relative to the reference position on the reference guide rail 101, which is a reference component separately positioned from the driven guide rail 102 (which is the target component). During the thread tightening process of each of the multiple threaded components F, the control unit 33 re-obtains the reference measurement position P for each of the multiple threaded components F using the measuring unit 60. D0 The distance measured relative to the reference guide rail 101 is used as a reference measurement result, and the re-obtained reference measurement result is used as a reference. The measuring unit 60, based on the position of the threaded part F of the driven guide rail 102 where each of the multiple threaded parts F is threaded, is at the measuring position P. Dn Based on the measured results, the position of the driven guide rail 102 is adjusted using the position adjustment hand 50, while the threads of each of the multiple threaded components F are tightened using the thread tightening hand 40. Thus, the measuring unit 60 measures the measuring position P corresponding to each of the multiple threaded components F. Dn The distance between the driven guide rail 102 and the reference guide rail 101 is determined, allowing for easy measurement of the position of the driven guide rail 102 relative to the reference position during the thread tightening process of each of the multiple threaded components F. Therefore, by using the newly obtained reference measurement result as a reference during each thread tightening process of the multiple threaded components F, the position of the driven guide rail 102 can be easily adjusted, thereby easily improving the positional accuracy of the fixed driven guide rail 102.

[0098] While a threaded component F is pre-tightened, the control unit 33 uses the measuring unit 60 to obtain a measurement result corresponding to the position where the threaded component F of the driven guide rail 102, which is the target component, is threaded. Simultaneously, the position adjustment hand 50 adjusts the position of the driven guide rail 102. Furthermore, if the measurement result corresponding to the position where the threaded component F of the driven guide rail 102 is threaded is within a specified tightening error range, the control unit 33 uses the thread tightening hand 40 to perform final tightening of the threaded component F. After performing final tightening of the threaded component F, the control unit 33 re-obtains the reference measurement position P. D0 The reference measurement results are then used as a reference. The control unit 33, using the newly acquired reference measurement results as a reference, releases the final tightening of one threaded component F if the measurement result corresponding to the position where a threaded component F of the driven guide rail 102 is threaded is not included in the confirmation error range, which is wider than the tightening error range. The position is then readjusted again using the position adjustment hand 50. This process is repeated until the measurement result corresponding to the final tightening of one threaded component F, using the newly acquired reference measurement results as a reference, is included in the confirmation error range. Therefore, based on the newly acquired reference measurement results used as a reference for the next threaded component F, it can be confirmed that the thread tightening of the currently final-tightened threaded component F has been properly completed. Thus, in confirming the thread tightening of one threaded component F and adjusting the position of the next threaded component F, a common reference measurement result can be used as the reference for adjustment. As a result, compared to using different references, it is possible to prevent a large deviation in the reference used for position adjustment, thereby further improving the accuracy of fixing the position of the driven guide rail 102.

[0099] The control unit 33 uses the reference measurement result obtained after the final tightening of a threaded component F as a reference. If the measurement result corresponding to the position where the threaded component F of the driven guide rail 102 (as the target component) is threaded and the measurement result corresponding to at least one of the multiple threaded components F that were previously threaded and tightened are both within the error range at the time of confirmation, the thread tightening operation of the next threaded component F is started. Therefore, even when the reference measurement result is obtained again for the reference of the next threaded component F, the currently final-tightened threaded component F and at least one of the multiple threaded components F that were previously threaded and tightened can be confirmed by the shared reference measurement result, thus further preventing the deviation of the reference used for position adjustment among the multiple threaded components F from increasing. Therefore, the accuracy of fixing the position of the driven guide rail 102 can be further improved.

[0100] The robot 100 includes an engaging portion 57, which is disposed in at least one of the threaded fastening hand 40 and the position adjusting hand 50, and engages with a locked portion 68 disposed in the measuring portion 60. The control unit 33 moves the measuring portion 60 to re-acquire the reference measuring position P by engaging the engaging portion 57 with the locked portion 68 of the measuring portion 60. D0 The reference measurement result is obtained at the reference position. Therefore, by engaging the engaging part 57 with the engaging part 68 of the measuring part 60, the measuring part 60 can be easily moved. Thus, the measuring part 60 can be easily moved to the reference measurement position P. D0 Therefore, it is possible to easily obtain the benchmark measurement results again.

[0101] The robot 100 includes a tool mounting section 24, which is disposed on the robotic arm 20, which serves as a position adjustment arm, and can be interchangeably mounted with a position adjustment hand 50 and a measuring section 60. The measuring section 60 measures the position of the driven guide rail 102 relative to a reference position on a reference guide rail 101, which is a reference component and is disposed separately from the driven guide rail 102, which serves as the target component. Before threading multiple threaded components F, the control section 33 mounts the measuring section 60 on the tool mounting section 24, thereby moving the measuring section 60 onto the reference slider 101a, which serves as a moving part, via the movement of the robotic arm 20. Furthermore, after the control section 33 mounts the measuring section 60 onto the reference slider 101a on the reference guide rail 101, it mounts the position adjustment hand 50 on the tool mounting section 24, thereby adjusting the position of the driven guide rail 102 using the position adjustment hand 50, and moving the measuring section 60 on the reference slider 101a on the reference guide rail 101 to re-acquire the reference measurement position P. D0 The reference measurement results are obtained at the reference position. Therefore, by using the tool mounting unit 24 and the movement of the robot 100, the measuring unit 60 can be easily positioned on the reference slider 101a, and after positioning the measuring unit 60, the position adjustment hand 50 can be easily positioned on the robotic arm 20. Thus, the time required for positioning the measuring unit 60 can be easily reduced. Furthermore, since the measuring unit 60 is positioned on the movable reference slider 101a on the reference guide rail 101, the measuring unit 60 can be easily moved, thereby easily obtaining the reference measurement results again.

[0102] In addition to the position adjustment hand 50 and the measuring unit 60, the tool mounting unit 24 can also replaceably mount a reference determining hand 70 for positioning the reference guide rail 101, which serves as a reference component. Before threading multiple threaded components F, the control unit 33 mounts the reference determining hand 70 to the tool mounting unit 24 and abuts it against the reference guide rail 101 to position the reference guide rail 101. Simultaneously, the thread tightening hand 40 is used to tighten the threads, thereby fixing the reference guide rail 101 onto the mounting surface 103a. Thus, in addition to the position adjustment hand 50 and the measuring unit 60, the reference determining hand 70 for positioning the reference guide rail 101 is mounted on the tool mounting unit 24, allowing the robot 100 using the reference determining hand 70 to easily position the reference guide rail 101. Therefore, the workload associated with positioning the reference guide rail 101 can be easily prevented.

[0103] Before tightening the multiple threaded components F, the control unit 33 uses the thread tightening hand 40 to insert each of the multiple threaded components F into the insertion hole H disposed on the driven guide rail 102, which is the target component. Thus, by the operation of the robot 100, the multiple threaded components F can be inserted into the insertion hole H by the thread tightening hand 40, thereby preventing the workload required for inserting the multiple threaded components F into the insertion hole H.

[0104] The position adjustment hand 50 includes a holding portion 56 for holding multiple threaded components F. When the control unit 33 inserts each of the multiple threaded components F into the insertion hole H, it uses the thread fastening hand 40 to insert each of the multiple threaded components F held by the holding portion 56 of the position adjustment hand 50 into the insertion hole H of the driven guide rail 102, which is the target component. Therefore, by having the holding portion 56 of the position adjustment hand 50 hold the multiple threaded components F, the operation time required to insert each of the multiple threaded components F into the insertion hole H can be shortened compared to having the thread fastening hand 40 hold each of the multiple threaded components F, which are positioned separately from the robot 100, one by one.

[0105] The position adjustment hand 50 includes: an adjustment abutment portion 51 that abuts against the driven guide rail 102, which is the target component; a moving mechanism 52 that slides the adjustment abutment portion 51; and a force-applying member 53 that applies force to the adjustment abutment portion 51 along the moving direction of the moving mechanism 52. During the position adjustment of the driven guide rail 102 by the position adjustment hand 50, the control unit 33 moves the robotic arm 20, which is the position adjustment arm, while the adjustment abutment portion 51 of the position adjustment hand 50 is in contact with the driven guide rail 102. This adjusts the position of the driven guide rail 102 by applying force through the force-applying member 53. Therefore, by moving the robotic arm 20 and adjusting the position of the driven guide rail 102 by applying force through the force-applying member 53, the impact applied to the driven guide rail 102 is prevented from becoming too great compared to directly applying force from the robot 100's movement to the driven guide rail 102. Thus, the position of the driven guide rail 102 can be easily fine-tuned.

[0106] [Variation Example] It should be considered that all points in the embodiments disclosed herein are illustrative and not restrictive. The scope of this disclosure is shown by the claims, not by the description of the embodiments above, and also includes all modifications (variations) with the same meaning and scope as the claims.

[0107] For example, although the above embodiment shows the reference measurement position P corresponding to the position where the reference threaded member F0, which is located at one end of a plurality of threaded members F arranged in a straight line, is threaded, D0 This disclosure provides an example of obtaining a reference measurement result, but it is not limited thereto. In this disclosure, a position unrelated to the reference threaded component may also be used as the reference measurement position. Furthermore, the reference threaded component may not need to be located at one end of a plurality of threaded components arranged in a straight line. Furthermore, the plurality of threaded components may not need to be arranged in a straight line in the target component. Furthermore, even if the plurality of threaded components are arranged in a straight line in the target component, it is not necessary to sequentially tighten the threads of the plurality of threaded components in one direction. Furthermore, the adjustment position of the position adjusting hand may not be relative to the thread tightening position but on the opposite side of the reference thread tightening position.

[0108] Furthermore, although the above embodiments show an example where the reference component is a linear reference guide 101 and the target component is a linear driven guide 102, this disclosure is not limited thereto. In this disclosure, the reference component may not be linear. Furthermore, the target component may not be linear. Furthermore, the target component may not need to be fixed parallel to the reference component. For example, the target component may not need to be fixed in a predetermined positional relationship relative to the reference component. Furthermore, the direction of movement of the target component by the position adjustment hand may be a direction different from the direction opposite to the reference component.

[0109] Furthermore, although the above embodiment shows an example of the measuring unit 60 measuring distance using the detection light L, this disclosure is not limited thereto. In this disclosure, the measuring unit may also be configured to measure the angle relative to a reference member. Furthermore, the measuring unit may be configured to measure the position of a target member relative to a reference member by measuring current, magnetic field, or capacitance, rather than by the detection light. Additionally, the measuring unit and the reference member may be configured separately.

[0110] Furthermore, although the above embodiments illustrate an example of starting thread tightening of the next threaded component F with a newly obtained reference measurement result as a reference, provided that both the measurement result of the current threaded component F and the measurement result of the previous threaded component F are within the error range at the time of verification, this disclosure is not limited thereto. In this disclosure, it is also possible not to verify the measurement result of the current threaded component with the newly obtained reference measurement result as a reference. Furthermore, it is also possible not to verify the measurement result of the previous threaded component and only verify the measurement result of the current threaded component. Furthermore, it is also possible not only to verify the previous one, but also to verify the measurement results of multiple previous threaded components.

[0111] Furthermore, although the above embodiment shows an example of moving the measuring unit 60 by engaging the engaging portion 57 of the position adjusting hand 50 with the engaging portion 68 of the measuring unit 60, this disclosure is not limited to this. In this disclosure, the engaging portion engaging with the engaging portion of the measuring unit may also be arranged on a threaded fastening hand. Furthermore, the measuring unit may be moved using a different drive source than the position adjusting arm and the threaded fastening arm. Furthermore, the measuring unit may be mounted on the position adjusting arm, the threaded fastening arm, or a third robotic arm separately arranged from the position adjusting arm and the threaded fastening arm, thereby using the measuring unit held in the position adjusting arm, the threaded fastening arm, or the third robotic arm to measure the position of the target component relative to a reference position. Furthermore, measurements may be performed at measurement positions corresponding to multiple threaded components without moving the measuring unit. Furthermore, the reference position of the reference component may not change position due to movement of the measuring unit. For example, the threading of multiple threaded components may be tightened simultaneously while measuring the position of the target component relative to a common reference position. Furthermore, the reference position may be arranged on a component that serves as the target for fixing the target component.

[0112] Furthermore, although the above embodiment shows an example where the position adjusting hand 50, the measuring unit 60, and the reference determining hand 70 can be interchangeably mounted on the robotic arm 20, which serves as the position adjusting arm, via the tool mounting part 24, this disclosure is not limited thereto. In this disclosure, it is also possible not to mount the measuring unit or the reference determining hand on the position adjusting arm.

[0113] Furthermore, although the above embodiment shows an example of holding a plurality of threaded components F in the holding portion 56 of the position adjusting hand 50 and inserting the plurality of threaded components F held in the holding portion 56 into the insertion hole H using the threaded fastening hand 40, this disclosure is not limited thereto. In this disclosure, the threaded fastening hand may be used without inserting the threaded components into the insertion hole. Furthermore, the holding portion may not be configured on the position adjusting hand. For example, the holding portion may be configured on the reference determining hand. Furthermore, the threaded components may be moved directly from the threaded configuration portion to the insertion hole.

[0114] Furthermore, although the above embodiment shows an example of adjusting the position of the driven guide rail 102, which is the target component, by applying force using the force of the force-applying member 53 disposed on the position adjusting hand 50, this disclosure is not limited thereto. In this disclosure, the position of the target component may also be adjusted directly by using the driving force of the position adjusting arm without configuring the force-applying member on the position adjusting hand.

[0115] Furthermore, although the above embodiments show examples of horizontally multi-jointed robotic arms, such as the threaded fastening arm 10 and the position adjusting arm 20, this disclosure is not limited to this. In this disclosure, the threaded fastening arm and the position adjusting arm can be vertically multi-jointed robotic arms or robotic arms with parallel linkage mechanisms. Furthermore, the threaded fastening arm and the position adjusting arm can be robotic arms based on Cartesian coordinate systems, cylindrical coordinate systems, or polar coordinate systems. That is, they can also be robotic arms that have not only linkage mechanisms but also linear motion mechanisms. Moreover, the threaded fastening arm and the position adjusting arm can have different configurations.

[0116] Furthermore, although the above embodiment shows an example of a dual-arm robot 100 having a threaded fastening arm 10 and a position adjusting arm 20 sharing a common axis, this disclosure is not limited to this. In this disclosure, the threaded fastening arm and the position adjusting arm can also be configured on different robots. That is, the assembly action of fixing the target component can also be performed through the coordinated action of the two robots. Furthermore, in the case of a dual-arm robot, the threaded fastening arm and the position adjusting arm may not have a shared axis.

[0117] The functions of the elements disclosed in this specification can be performed using circuitry or processing circuitry that includes a multi-functional processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), conventional circuitry, and / or combinations thereof configured or programmed to perform the disclosed functions. Because a processor contains transistors and other circuitry, it is considered a processing circuit or circuit. In this disclosure, a circuit, unit, or means is hardware that performs or is programmed to perform the listed functions. The hardware can be the hardware disclosed in this specification, or it can be other known hardware programmed or configured to perform the listed functions. Where the hardware is a processor considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, with the software incorporated into the structure of the hardware and / or processor.

[0118] [Way] Those skilled in the art will understand that the above-described embodiments are specific examples of the following approaches.

[0119] (Method 1) A robot that possesses: A threaded fastener that fastens multiple threaded components disposed on a target component to secure the target component to a mounting surface; A threaded fastening arm, on which the threaded fastening hand is mounted; A position adjusting hand, which adjusts the position of the target component during the thread tightening process; A position adjustment arm, which is separately configured from the threaded fastening arm, and is equipped with the position adjustment hand; The measuring unit measures the position of the target component relative to a reference position; and The control unit uses the measurement result obtained by the measuring unit at the reference measurement position of the target component, i.e., the reference measurement result, as a reference. It adjusts the position of the target component using the position adjustment hand, and simultaneously tightens the thread of one of the multiple threaded components using the thread tightening hand. After tightening the thread of the one threaded component, it re-obtains the reference measurement result at the reference measurement position, uses the re-obtained reference measurement result as a reference, adjusts the position of the target component using the position adjustment hand, and simultaneously tightens the thread of the next threaded component among the multiple threaded components using the thread tightening hand.

[0120] (Method 2) According to the robot described in method 1, wherein, The control unit The thread-tightening hand is used to tighten the thread of a reference threaded component among the plurality of threaded components, and a reference measurement result is obtained at the reference measurement position corresponding to the position where the reference threaded component of the target component is tightened, which is measured by the measuring unit relative to the reference position. During the thread tightening process of each of the plurality of threaded components, for each of the plurality of threaded components, the reference measurement result at the reference measurement position corresponding to the position where the reference threaded component is threaded is re-acquired, and the thread tightening of each of the plurality of threaded components is performed sequentially starting from the position where the reference threaded component is threaded.

[0121] (Method 3) According to the robot described in method 2, wherein, During the thread tightening process of each of the plurality of threaded components, the control unit, for each of the plurality of threaded components, does not release the thread tightening of the reference threaded component, but re-obtains the reference measurement result at the reference measurement position corresponding to the position where the reference threaded component is thread tightened, and simultaneously tightens the threads of each of the plurality of threaded components in sequence.

[0122] (Method 4) The robot according to any one of methods 1 to 3, wherein, The measuring unit measures the position of the target component relative to the reference position on the reference component that is separately disposed from the target component. The threaded fastener tightens the threads of the plurality of threaded components arranged in a straight line on the driven guide rail, so as to fix the target component in a state of parallel arrangement with the reference component, wherein the target component is a straight driven guide rail that serves as a guide for linear movement of the driven base component, and the reference component is a straight reference guide rail that serves as a guide for linear movement of the reference base component.

[0123] (Method 5) The robot according to any one of methods 1 to 4, wherein, The measuring unit determines the position of the target component relative to the reference position on the reference component by measuring the distance of the target component relative to the reference component that is separately disposed from the reference component. During the thread tightening process of each of the plurality of threaded components, the control unit re-acquires the reference measurement result for each of the plurality of threaded components, which is measured by the measuring unit relative to the reference component at the reference measurement position. Using the re-acquired reference measurement result as a reference, and based on the measurement result measured by the measuring unit at the measurement position corresponding to the thread tightening position of each of the plurality of threaded components of the target component, the position of the target component is adjusted by the position adjustment hand, and the thread tightening hand is used to tighten the threads of each of the plurality of threaded components.

[0124] (Method 6) The robot according to any one of methods 1 to 5, wherein, The control unit With one threaded component pre-tightened, the measuring unit obtains a measurement result corresponding to the position where the threaded component of the target component is tightened, and simultaneously, the position of the target component is adjusted using the position adjustment hand. If the measurement result corresponding to the position where the threaded component of the target component is tightened by the thread is within the specified tightening error range, the threaded component is finally tightened using the thread tightening hand. After the final tightening of the threaded component is completed, the reference measurement result at the reference measurement location is obtained again. Using the re-obtained benchmark measurement results as a reference, if the measurement results corresponding to the position where the threaded component of the target component is threaded and tightened are not included in the confirmation error range which is wider than the tightening error range, the final tightening of the threaded component is released, and the position adjustment is performed again using the position adjustment hand.

[0125] (Method 7) According to the robot described in method 6, wherein... The control unit uses the reference measurement result obtained again after the final tightening of the threaded component as a reference. If the measurement result corresponding to the position where the threaded component of the target component is tightened and the measurement result corresponding to at least one of the plurality of threaded components that were tightened before the threaded component are both within the error range of the confirmation, the control unit starts the thread tightening operation of the next threaded component.

[0126] (Method 8) The robot according to any one of methods 1 to 7, wherein, It also includes an engaging portion disposed on at least one of the threaded fastening hand and the position adjusting hand, and engaging with the engaging portion disposed on the measuring portion. The control unit moves the measuring unit to re-acquire the reference measurement result at the reference measurement position by engaging the engaging part with the engaged part of the measuring unit.

[0127] (Method 9) The robot according to any one of methods 1 to 8, wherein, It also includes a tool mounting section, which is disposed on the position adjusting arm, and allows for the interchangeable mounting of the position adjusting hand and the measuring part. The measuring unit measures the position of the target component relative to the reference position on the reference component that is separately disposed from the target component. The control unit Before tightening the threads of the plurality of threaded components, the measuring part is mounted to the tool mounting part, and the position adjusting arm is used to position the measuring part on the moving part that moves on the reference part. After the measuring unit is positioned on the moving part of the reference component, the position of the target component is adjusted by attaching the position adjusting hand to the tool mounting part, while the measuring unit positioned on the moving part of the reference component is moved to re-obtain the reference measurement result at the reference measurement position.

[0128] (Method 10) According to the robot described in method 9, wherein... In addition to the position adjustment hand and the measuring part, the tool mounting unit can also replaceably mount a reference determining hand, which positions the reference component. Before tightening the threads of the plurality of threaded components, the control unit positions the reference component by mounting the reference determining hand to the tool mounting unit and making the reference determining hand abut against the reference component, and simultaneously tightens the threads using the thread tightening hand, thereby fixing the reference component to the mounting surface.

[0129] (Method 11) The robot according to any one of methods 1 to 10, wherein, Before tightening the threads of the plurality of threaded components, the control unit uses the thread tightening hand to insert each of the plurality of threaded components into the insertion hole disposed on the target component.

[0130] (Method 12) The robot according to method 11, wherein, The position adjustment hand includes a retaining part that holds the plurality of threaded components. When the control unit inserts the plurality of threaded components into the insertion hole, it uses the threaded fastening hand to insert the plurality of threaded components held by the holding part of the position adjusting hand into the insertion hole of the target component.

[0131] (Method 13) The robot according to any one of methods 1 to 12, wherein, The position adjustment hand includes: an adjustment abutment part that abuts against the target component, a moving mechanism that causes the adjustment abutment part to slide, and a force-applying component that applies force to the adjustment abutment part along the moving direction of the moving mechanism. When the control unit adjusts the position of the target component using the position adjustment hand, it moves the position adjustment arm by making the adjustment abutment part of the position adjustment hand abut against the target component, thereby adjusting the position of the target component by applying force from the force application component.

[0132] (Method 14) A robot control method includes the following steps: At the reference measurement position of the target component that is fixed to the mounting surface by thread fastening using multiple threaded components, the reference measurement result of the position relative to the reference position is obtained. Using the obtained benchmark measurement results as a reference, the position of the target component is adjusted using a position adjusting hand mounted on the position adjusting arm, while simultaneously using a thread tightening hand mounted on a thread tightening arm separately configured from the position adjusting arm to tighten the threads of one of the plurality of threaded components; and After tightening the threaded component, the reference measurement result at the reference measurement position is obtained again. Using the obtained reference measurement result as a reference, the position of the target component is adjusted using the position adjustment hand. At the same time, the thread tightening hand is used to tighten the thread of the next threaded component among the plurality of threaded components.

[0133] (Method 15) A storage medium, which is a computer-readable storage medium, stores a robot control program, said robot control program for causing a control device that controls the robot's movements to perform the following processes: At the reference measurement position of the target component that is fixed to the mounting surface by thread fastening using multiple threaded components, the reference measurement result of the position relative to the reference position is obtained. Using the obtained benchmark measurement results as a benchmark, the position of the target component is adjusted using a position adjustment hand mounted on the position adjustment arm of the robot, while simultaneously using a thread tightening hand mounted on a thread tightening arm separately configured from the position adjustment arm in the robot to tighten the threads of one of the plurality of threaded components; and After tightening the threaded component, the reference measurement result at the reference measurement position is obtained again. Using the obtained reference measurement result as a reference, the position of the target component is adjusted using the position adjustment hand. At the same time, the thread tightening hand is used to tighten the thread of the next threaded component among the plurality of threaded components.

[0134] (Method 16) A robot control program that causes a control device that controls the robot's movements to perform the following processes: At the reference measurement position of the target component that is fixed to the mounting surface by thread fastening using multiple threaded components, the reference measurement result of the position relative to the reference position is obtained. Using the obtained benchmark measurement results as a benchmark, the position of the target component is adjusted using a position adjusting hand mounted on the position adjusting arm of the robot, while simultaneously using a thread tightening hand mounted on a thread tightening arm separately configured from the position adjusting arm in the robot to tighten the threads of one of the plurality of threaded components; and After tightening the threaded component, the reference measurement result at the reference measurement position is obtained again. Using the obtained reference measurement result as a reference, the position of the target component is adjusted using the position adjustment hand. At the same time, the thread tightening hand is used to tighten the thread of the next threaded component among the plurality of threaded components.

Claims

1. A robot, characterized in that, have: A threaded fastener that fastens multiple threaded components disposed on a target component to secure the target component to a mounting surface; A threaded fastening arm, on which the threaded fastening hand is mounted; A position adjusting hand, which adjusts the position of the target component during the thread tightening process; A position adjustment arm, which is separately configured from the threaded fastening arm, and is equipped with the position adjustment hand; The measuring unit measures the position of the target component relative to a reference position. as well as The control unit uses the measurement result obtained by the measuring unit at the reference measurement position of the target component, i.e., the reference measurement result, as a reference. It adjusts the position of the target component using the position adjustment hand, and simultaneously tightens the thread of one of the multiple threaded components using the thread tightening hand. After tightening the thread of the one threaded component, it re-obtains the reference measurement result at the reference measurement position, uses the re-obtained reference measurement result as a reference, adjusts the position of the target component using the position adjustment hand, and simultaneously tightens the thread of the next threaded component among the multiple threaded components using the thread tightening hand.

2. The robot according to claim 1, characterized in that, The control unit The thread-tightening hand is used to tighten the thread of a reference threaded component among the plurality of threaded components, and a reference measurement result is obtained at the reference measurement position corresponding to the position where the reference threaded component of the target component is tightened, which is measured by the measuring unit relative to the reference position. During the thread tightening process of each of the plurality of threaded components, for each of the plurality of threaded components, the reference measurement result at the reference measurement position corresponding to the position where the reference threaded component is threaded is re-acquired, and at the same time, starting from the position where the reference threaded component is threaded, each of the plurality of threaded components is threaded in sequence.

3. The robot according to claim 2, characterized in that, During the thread tightening process of each of the plurality of threaded components, the control unit, for each of the plurality of threaded components, does not release the thread tightening of the reference threaded component, but re-obtains the reference measurement result at the reference measurement position corresponding to the position where the reference threaded component is thread tightened, and simultaneously tightens the threads of each of the plurality of threaded components in sequence.

4. The robot according to any one of claims 1 to 3, characterized in that, The measuring unit measures the position of the target component relative to the reference position on the reference component that is separately disposed from the target component. The threaded fastener tightens the threads of the plurality of threaded components arranged in a straight line on the driven guide rail, so as to fix the target component in a state of parallel arrangement with the reference component, wherein the target component is a straight driven guide rail that serves as a guide for linear movement of the driven base component, and the reference component is a straight reference guide rail that serves as a guide for linear movement of the reference base component.

5. The robot according to any one of claims 1 to 3, characterized in that, The measuring unit determines the position of the target component relative to the reference position on the reference component by measuring the distance of the target component relative to the reference component that is separately disposed from the reference component. During the thread tightening process of each of the plurality of threaded components, the control unit re-acquires the reference measurement result for each of the plurality of threaded components, which is the distance of the reference component relative to the reference measurement position measured by the measuring unit. Using the re-acquired reference measurement result as a reference, and based on the measurement result measured by the measuring unit at the measurement position corresponding to the thread tightening position of each of the plurality of threaded components of the target component, the position of the target component is adjusted by the position adjustment hand, and the thread tightening hand is used to tighten the threads of each of the plurality of threaded components.

6. The robot according to any one of claims 1 to 3, characterized in that, The control unit With one threaded component pre-tightened, the measuring unit obtains a measurement result corresponding to the position where the threaded component of the target component is tightened, and simultaneously, the position of the target component is adjusted using the position adjustment hand. If the measurement result corresponding to the position where the threaded component of the target component is tightened by the thread is within the specified tightening error range, the threaded component is finally tightened using the thread tightening hand. After the final tightening of the threaded component is completed, the reference measurement result at the reference measurement location is obtained again. Using the re-obtained benchmark measurement results as a reference, if the measurement results corresponding to the position where the threaded component of the target component is threaded and tightened are not included in the confirmation error range which is wider than the tightening error range, the final tightening of the threaded component is released, and the position adjustment is performed again using the position adjustment hand.

7. The robot according to claim 6, characterized in that, The control unit uses the reference measurement result obtained again after the final tightening of the threaded component as a reference. If the measurement result corresponding to the position where the threaded component of the target component is tightened and the measurement result corresponding to at least one of the plurality of threaded components that were tightened before the threaded component are both within the error range of the confirmation, the control unit starts the thread tightening operation of the next threaded component.

8. The robot according to any one of claims 1 to 3, characterized in that, It also includes an engaging portion disposed on at least one of the threaded fastening hand and the position adjusting hand, and engaging with the engaging portion disposed on the measuring portion. The control unit moves the measuring unit to re-acquire the reference measurement result at the reference measurement position by engaging the engaging part with the engaged part of the measuring unit.

9. The robot according to any one of claims 1 to 3, characterized in that, It also includes a tool mounting section, which is disposed on the position adjusting arm, and allows for the interchangeable mounting of the position adjusting hand and the measuring part. The measuring unit measures the position of the target component relative to the reference position on the reference component that is separately disposed from the target component. The control unit Before tightening the threads of the plurality of threaded components, the measuring part is mounted to the tool mounting part, and the position adjusting arm is used to position the measuring part on the moving part that moves on the reference part. After the measuring unit is positioned on the moving part of the reference component, the position of the target component is adjusted by attaching the position adjusting hand to the tool mounting part, while the measuring unit positioned on the moving part of the reference component is moved to re-obtain the reference measurement result at the reference measurement position.

10. The robot according to claim 9, characterized in that, In addition to the position adjustment hand and the measuring part, the tool mounting unit can also replaceably mount a reference determining hand, which positions the reference component. Before tightening the threads of the plurality of threaded components, the control unit positions the reference component by mounting the reference determining hand to the tool mounting unit and making the reference determining hand abut against the reference component, and simultaneously tightens the threads using the thread tightening hand, thereby fixing the reference component to the mounting surface.

11. The robot according to any one of claims 1 to 3, characterized in that, Before tightening the threads of the plurality of threaded components, the control unit uses the thread tightening hand to insert each of the plurality of threaded components into the insertion hole disposed on the target component.

12. The robot according to claim 11, characterized in that, The position adjusting hand includes a retaining part that holds the plurality of threaded components. When the control unit inserts the plurality of threaded components into the insertion hole, it uses the threaded fastening hand to insert the plurality of threaded components held by the holding part of the position adjusting hand into the insertion hole of the target component.

13. The robot according to any one of claims 1 to 3, characterized in that, The position adjustment hand includes: an adjustment abutment part that abuts against the target component, a moving mechanism that causes the adjustment abutment part to slide, and a force-applying component that applies force to the adjustment abutment part along the moving direction of the moving mechanism. When the control unit adjusts the position of the target component using the position adjustment hand, it moves the position adjustment arm by making the adjustment abutment part of the position adjustment hand abut against the target component, thereby adjusting the position of the target component by applying force from the force application component.

14. A robot control method, characterized in that, Includes the following steps: At the reference measurement position of the target component that is fixed to the mounting surface by thread fastening using multiple threaded components, the reference measurement result of the position relative to the reference position is obtained. Using the obtained benchmark measurement results as a benchmark, the position of the target component is adjusted using a position adjustment hand mounted on the position adjustment arm, and at the same time, a thread fastening hand mounted on a thread fastening arm separately configured from the position adjustment arm is used to thread fasten one of the multiple threaded components. as well as After tightening the threaded component, the reference measurement result at the reference measurement position is obtained again. Using the obtained reference measurement result as a reference, the position of the target component is adjusted using the position adjustment hand. At the same time, the thread tightening hand is used to tighten the thread of the next threaded component among the plurality of threaded components.

15. A storage medium, characterized in that, It is a computer-readable storage medium, and stores therein a robot control program, which causes a control device that controls the robot's movements to perform the following processes: At the reference measurement position of the target component that is fixed to the mounting surface by thread fastening using multiple threaded components, the reference measurement result of the position relative to the reference position is obtained. Using the obtained benchmark measurement results as a benchmark, the position of the target component is adjusted by a position adjustment hand mounted on the position adjustment arm of the robot, and at the same time, a thread fastening hand mounted on a thread fastening arm separately configured from the position adjustment arm in the robot is used to fasten the thread of one of the multiple threaded components. as well as After tightening the threaded component, the reference measurement result at the reference measurement position is obtained again. Using the obtained reference measurement result as a reference, the position of the target component is adjusted using the position adjustment hand. At the same time, the thread tightening hand is used to tighten the thread of the next threaded component among the plurality of threaded components.

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