Component insertion method, control device, and control program

Abstract

To efficiently insert a cylindrical member into a hole.SOLUTION: A component insertion method includes the steps of: holding a cylindrical member and making the held cylindrical member be inclined with respect to an axial line of a hole by a robot arm; moving the inclined cylindrical member, bringing a circumferential end edge of a distal end portion of the cylindrical member into contact with a circumferential opening edge of the hole, by the robot arm; moving the cylindrical member while applying a predetermined load in parallel to a plane along the circumferential opening edge of the hole according to a direction of a reaction force parallel to the plane including the circumferential opening edge of the hole, the direction of the reaction force received by the circumferential end edge of the cylindrical member from the circumferential opening edge of the hole, and stopping the movement at an insertion start position of the cylindrical member, by the robot arm; and inserting the cylindrical member to the hole at the insertion start position by the robot arm.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a component insertion method, a control device, and a control program. [Background technology]

[0002] A component insertion method is known in which a cylindrical member held by a robot arm is tilted obliquely relative to the axis of the hole, moved in a stepped manner to an insertion start position, and inserted into the hole (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 61-019523 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described component insertion method, the cylindrical member is moved in a stepwise manner to the insertion start position, which results in unnecessary movement and is inefficient.

[0005] An object of the present disclosure is to provide a component insertion method, a control device, and a control program that solve any of the above-mentioned problems. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the present disclosure is to holding a cylindrical member by a robot arm and tilting the held cylindrical member with respect to an axis of the hole; a step of moving the inclined cylindrical member by the robot arm so that a circumferential edge of a tip end of the cylindrical member abuts against a circumferential opening edge of the hole; a step of moving the cylindrical member by the robot arm along the circumferential opening edge of the hole in a direction parallel to a plane including the circumferential opening edge of the hole while applying a predetermined load in accordance with a direction of a reaction force that the circumferential end edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to the plane including the circumferential opening edge of the hole, and stopping the movement at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position by the robot arm; include, How to insert parts is. In order to achieve the above object, one aspect of the present disclosure is to a robot arm that holds and moves a cylindrical member; a control means for controlling the operation of the robot arm, the control means holds the cylindrical member and tilts the held cylindrical member obliquely with respect to the axis of the hole; the inclined cylindrical member is moved so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a direction of a reaction force that the circumferential edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, the cylindrical member being moved along the circumferential opening edge of the hole in a direction parallel to the plane while applying a predetermined load, and the movement being stopped at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position; and controlling the operation of the robot arm so that Robot control device is. In order to achieve the above object, one aspect of the present disclosure is to controlling the robot arm to tilt the cylindrical member relative to the axis of the hole; a process of controlling the robot arm to move the inclined cylindrical member and bring the circumferential edge of the tip of the cylindrical member into contact with the circumferential opening edge of the hole; a process of controlling the robot arm to move the cylindrical member along the circumferential opening edge of the hole in a direction parallel to a plane including the circumferential opening edge of the hole while applying a predetermined load, in accordance with a direction of a reaction force that the circumferential edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to the plane including the circumferential opening edge of the hole, and to stop the movement at an insertion start position of the cylindrical member; a process of controlling the robot arm to insert the cylindrical member into the hole at the insertion start position; A control program that causes a computer to execute is. In order to achieve the above object, one aspect of the present disclosure is to holding a cylindrical member with a robot arm and tilting the held cylindrical member with respect to an axis of the hole; a step of moving the inclined cylindrical member by the robot arm so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a step of moving the cylindrical member by the robot arm while applying a predetermined load in a direction of a reaction force that the circumferential edge of the cylindrical member receives from the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, and in a direction perpendicular to the plane and approaching the hole, and stopping the movement at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position by the robot arm; include, How to insert parts is. In order to achieve the above object, one aspect of the present disclosure is to a robot arm that holds and moves a cylindrical member; a control means for controlling the operation of the robot arm, The control means holding the cylindrical member and tilting the held cylindrical member obliquely with respect to the axis of the hole; the inclined cylindrical member is moved so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; the cylindrical member is moved while applying a predetermined load in a direction parallel to a plane including the circumferential opening edge of the hole, in which a reaction force is applied to the circumferential edge of the cylindrical member from the hole, and in a direction perpendicular to the plane and approaching the hole, and the movement is stopped at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position; and controlling the operation of the robot arm so that Robot control device is. In order to achieve the above object, one aspect of the present disclosure is to A process of controlling the robot arm so as to tilt the cylindrical member obliquely relative to the axis of the hole; a process of controlling the robot arm to move the inclined cylindrical member so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a process of moving the cylindrical member with the robot arm while applying a predetermined load in a direction of a reaction force that the circumferential edge of the cylindrical member receives from the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, and in a direction perpendicular to the plane and approaching the hole, and controlling the robot arm so as to stop the movement at an insertion start position of the cylindrical member; a process of controlling the robot arm so as to insert the cylindrical member into the hole at the insertion start position; to the computer, Control Program is. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a component insertion method, a control device, and a control program that solve any of the above-mentioned problems. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a diagram illustrating an example of the configuration of a control device. [Figure 2]10 is a flowchart illustrating an example of the flow of a control method. [Figure 3] FIG. 10 is a diagram showing the inclination of a cylindrical member. [Figure 4] FIG. 10 is a diagram showing the reaction force of a cylindrical member. [Figure 5] FIG. 10 is a diagram showing Z position displacement. [Figure 6] FIG. 10 is a diagram illustrating hole position search. [Figure 7] FIG. 10 is a diagram showing an insertion start position. [Figure 8] 10 is a flowchart showing a control process flow when moving a cylindrical member from a contact position to an insertion start position. [Figure 9] 10A and 10B are diagrams showing a state in which the cylindrical member moves from the abutting position to the insertion start position. [Figure 10] 10A and 10B are diagrams showing a method of moving a cylindrical member. [Figure 11] 10A and 10B are diagrams showing a method of inserting a cylindrical member into a hole from an insertion start position. [Figure 12] 10A and 10B are diagrams showing a method of inserting a cylindrical member into a hole from an insertion start position. DETAILED DESCRIPTION OF THE INVENTION

[0009] An example of the configuration of the control device will be described below with reference to Fig. 1. The control device 1 according to this embodiment controls a robot arm 2. The robot arm 2 is configured as, for example, a multi-joint arm. The multi-joint arm has a hand unit at its tip that holds components, and is configured by connecting multiple links via multiple joints.

[0010] The hand unit is configured to hold the part M by gripping, suction, magnetically attaching, etc. The hand unit and each joint unit are provided with actuators such as servo motors that drive each joint unit and the hand unit.

[0011] Furthermore, the hand is equipped with a force sensor that detects information such as the magnitude and direction of the force applied to the hand. This force sensor is installed near the tip of the robot arm, for example, at the base of the hand or tool. The force sensor measures forces (loads) in the X, Y, Z, RX, RY, and RZ coordinate systems in the tool coordinate system.

[0012] The control device 1 controls the operation of the robot arm 2, for example, by feedback control or robust control of the actuators of each joint and hand section of the robot arm 2 based on sensor information from each sensor of the above-mentioned joint sections and hand section.

[0013] The control device 1 according to this embodiment has a hardware configuration of a typical computer, for example, as shown in FIG. 1, including a processor 11 such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), an internal memory 12 such as a RAM (Random Access Memory) or a ROM (Read Only Memory), a storage device 13 such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), an input / output I / F 14 for connecting peripheral devices such as a display, and a communication I / F 15 for communicating with devices outside the device.

[0014] The control device 1 according to this embodiment controls the robot arm 2 so that the robot arm 2 holds a cylindrical member M having a substantially cylindrical shape and inserts the held cylindrical member M into a substantially cylindrical hole S. Fig. 2 is a flowchart showing an example of the flow of a control method performed by the control device according to this embodiment.

[0015] First, the control device 1 controls the robot arm 2 to tilt the cylindrical member M with respect to the axis of the hole S (step S101). Next, the control device 1 controls the robot arm 2 to move the tilted cylindrical member M so that the circumferential edge of the tip of the cylindrical member M abuts against the circumferential opening edge of the hole S (step S102).

[0016] Thereafter, the control device 1 controls the robot arm 2 to move the cylindrical member M along the circumferential opening edge of the hole S while applying a predetermined load parallel to the plane in accordance with the direction of the reaction force that the circumferential edge of the cylindrical member M receives from the circumferential opening edge of the hole S, and stops the movement at the insertion start position of the cylindrical member M (step S103). Finally, the control device 1 controls the robot arm 2 to insert the cylindrical member M into the hole S at the insertion start position (step S104).

[0017] Next, the contents of each of the above steps will be described in more detail. The control device 1 controls the robot arm 2 so that the robot arm 2 holds the cylindrical member M and tilts the held cylindrical member M with respect to the axis of the hole S.

[0018] Generally, the hole S extends in a direction perpendicular to the XY plane (horizontal plane). Therefore, as shown in FIG. 3, the robot arm 2 tilts the cylindrical member M at an inclination angle θ xy The direction perpendicular to the XY plane is the Z-axis direction, which is the direction of the axis of the hole S.

[0019] For the sake of simplicity, the cylindrical member M is tilted at an angle θ y The case where the cylindrical member M is inclined by an inclination angle θ x When tilted by only θ xy Even if the angle is inclined by only θ y The inclination angle θ may be, for example, from a few degrees to a general chamfer angle.

[0020] As described above, if the cylindrical member M is inserted into the hole S in an inclined state and even a portion of the cylindrical member M abuts against the circumferential opening edge of the hole S, the cylindrical member M will receive a reaction force from the circumferential opening edge of the hole S in the direction of the hole center in the XY plane, as shown in Figure 4.

[0021] FIG. 4(a) is a top view of the hole S. As shown in FIG. 4(a), a reaction force is obtained in the normal direction (toward the center of the hole) at the contact point between the cylindrical member M and the hole S. FIG. 4(b) is an XZ cross-sectional view of the hole S cut along the XZ plane. As shown in FIG. 4(b), a reaction force is obtained in the normal direction to the inclined surface of the cylindrical member M at the contact point between the cylindrical member M and the hole. FIG. 4(c) is a perspective view of the cylindrical member M and the hole S. As shown in FIG. 4(c), the combined forces of FIGS. 4(a) and (b) are the reaction force that the cylindrical member M receives from the circumferential opening edge of the hole S.

[0022] As described above, by tilting the cylindrical member M obliquely relative to the axis of the hole S, the robot arm 2 can obtain a reaction force toward the center of the hole when the cylindrical member M catches on the edge of the hole S, just as when the tip of the cylindrical member M is chamfered. This makes it easy to align the axes of the cylindrical member M and the hole S.

[0023] As described above, the control device 1 moves the tilted cylindrical member M downward in the Z-axis direction while applying a predetermined load, and causes the circumferential edge of the tip of the cylindrical member M to abut against the circumferential opening edge of the hole S. This causes the tip of the cylindrical member M to hang on the circumferential opening edge of the hole S. Hereinafter, the position where the circumferential edge of the tip of the cylindrical member M abuts against the circumferential opening edge of the hole S will be referred to as the abutment position.

[0024] As described above, when the control device 1 applies a predetermined load to the cylindrical member M and moves the cylindrical member M downward in the Z-axis direction, the circumferential edge of the tip of the cylindrical member M comes into contact with the circumferential opening edge of the hole S, and the reaction force from the circumferential opening edge reaches the predetermined load. At this time, the control device 1 may determine that the position of the cylindrical member M is the contact position when it can no longer displace the cylindrical member M in the Z-axis direction and the displacement in the Z-axis direction becomes zero. Alternatively, the control device 1 may determine that the position of the cylindrical member M is the contact position when a predetermined load is detected upward in the Z-axis direction by the force sensor of the hand unit.

[0025] The control device 1 may determine whether or not the cylindrical member M is caught in the hole S at the contact position using the following two methods.

[0026] (1) As described above, by tilting the cylindrical member M, the cylindrical member M receives a reaction force in the direction of the center of the hole. Therefore, the control device 1 may determine that the cylindrical member M is caught in the hole S at the above-mentioned contact position when a force in the XY plane direction is detected by the force sensor of the hand unit.

[0027] (2) As described above, when the cylindrical member M is tilted so that the circumferential edge of the tip of the cylindrical member M catches on the circumferential opening edge of the hole S, the cylindrical member M enters the hole S by the amount of tilt, and the Z position drops, as shown in Fig. 5. Therefore, when the control device 1 detects the Z position displacement ΔZ, it may determine that the cylindrical member M has caught on the hole S at the above-mentioned contact position.

[0028] For example, the inclination angle θ of the cylindrical member M xy If the diameter (radius) of the cylindrical member M is r, when it hits the hole S, the Z coordinate will be displaced downward. This Z position displacement ΔZ can be calculated using the following formula. ΔZ=2rsinθ xy

[0029] For example, when a cylindrical member M of M3 (2r=3) is tilted at an angle of 10 degrees, the Z position displacement ΔZ is calculated as follows: ΔZ=3[mm]×sin10°=3×0.17365≒0.521[mm]

[0030] The above values ​​are for when the cylindrical member M is almost completely caught in the hole S. Position detection sensitivity depends on the motor's resolution, but when using a typical robot or servo motor, the resolution is about 1 μm, and a displacement of about 0.05 mm can be easily detected. In other words, it can be detected that about 1 / 10 of the diameter of the cylindrical member M is caught in the hole S.

[0031] If the length dimensional accuracy of the cylindrical member M is poor or depending on the state of contact with the hole S, it may be difficult for the control device 1 to determine whether the cylindrical member M has caught on the hole S at the abutment position based on the Z position displacement. In such cases, the control device 1 may perform touch detection at a position that will never catch on the hole S before descending at the position of the hole S, store the height, and compare that height with the height when the cylindrical member M was lowered at the position of the hole S to determine whether the cylindrical member M has caught on the hole S at the abutment position.

[0032] As described above, even if the control device 1 moves the cylindrical member M downward in the Z-axis direction, it may not be possible to abut the circumferential edge of the tip of the cylindrical member M against the circumferential opening edge of the hole S, and the cylindrical member M may not fit into the hole S.

[0033] In this case, the control device 1 may perform a hole position search by moving the cylindrical member M in the XY direction after the robot arm 2 tilts the cylindrical member M so that the cylindrical member M is directly above the designed hole S.

[0034] For example, if the control device 1 determines that the cylindrical member M does not fit into the hole S using the above method, it performs the hole position search by repeatedly raising the cylindrical member M in the Z-axis direction, moving it in the XY directions at the search pitch, and then lowering it again in the Z-axis direction.

[0035] At this time, the apparent diameter of the cylindrical member M can be regarded as small due to the inclination of the cylindrical member M. Therefore, as shown in Fig. 6, the search pitch can be set to (hole diameter R) - (diameter α) of the cylindrical member M. In other words, the search pitch can be increased, enabling efficient search.

[0036] Next, the control device 1 determines whether the contact position is the insertion start position of the cylindrical member M. The insertion start position P is the position where the cylindrical member M is inserted into the hole S and the inclination angle θ xy = Angle of reaction force θ of hole S xy For example, as shown in FIG. 7, it is the leftmost position (a).

[0037] 7, when the robot arm 2 abuts the cylindrical member M against the hole S in an inclined state, in most cases the circumferential edge of the tip of the cylindrical member M and the circumferential opening edge of the hole S contact each other at one point, as shown in (b). On the other hand, when the angle between the inclination direction of the cylindrical member M and the direction of the reaction force at the contact point of the cylindrical member M is 180° in the XY plane (horizontal plane), the circumferential edge of the tip of the cylindrical member M and the circumferential opening edge of the hole S contact each other at two points, as shown in the rightmost position (c).

[0038] Furthermore, when the inclination direction of the cylindrical member M and the reaction force direction at the contact point of the cylindrical member M are 0° (the same), depending on the curvature of the hole S and the cylindrical member M, the cylindrical member M is in contact with the edge line of the hole S, as shown in the left end position (a).

[0039] As described above, if the circumferential edge of the tip of cylindrical member M contacts the circumferential opening edge of hole S at one or two points, cylindrical member M cannot be inserted into hole S by normal copy insertion. However, if cylindrical member M is in line contact with the edge of hole S, as shown in position (a) on the left, it is at least possible to insert the part in a vertical position. For this reason, this position is designated as the insertion start position P as described above.

[0040] When the control device 1 determines that the cylindrical member M is caught in the hole S at the abutment position, it determines whether the cylindrical member M is at the above-mentioned insertion start position P. Normally, the position of the cylindrical member M is not initially at the insertion start position P. For this reason, the control device 1 controls the robot arm 2 to move the cylindrical member M to the insertion start position P in accordance with the direction of the reaction force that the circumferential edge of the cylindrical member M receives from the circumferential opening edge of the hole S.

[0041] The control device 1 moves the cylindrical member M along the circumferential opening edge of the hole S while applying a predetermined load parallel to the plane, in accordance with the direction of the reaction force parallel to the plane including the circumferential opening edge of the hole S, and stops the movement at the insertion start position P of the cylindrical member M. Below, a method for moving the cylindrical member M in accordance with the reaction force will be described in detail.

[0042] FIG. 8 is a flowchart showing the control process flow when the cylindrical member M is moved from the contact position to the insertion start position P as described above.

[0043] The control device 1 determines whether the Y-axis component of the reaction force (hereinafter referred to as hole reaction force) that the circumferential edge of the cylindrical member M receives from the circumferential opening edge of the hole S is equal to or less than a predetermined value near 0 (step S201).

[0044] If the control device 1 determines that the Y-axis component of the hole reaction force is not below a predetermined value (NO in step S101), it determines whether the inclination direction of the cylindrical member M and the direction of the X-axis component of the hole reaction force are the same (step S202).

[0045] 9(1), when the control device 1 determines that the tilt direction of the cylindrical member M and the direction of the X-axis component of the hole reaction force are not the same (NO in step S202), it controls the robot arm 2 to linearly move the cylindrical member M in the direction of the X-axis component of the hole reaction force while applying a predetermined load (step S203).On the other hand, when the control device 1 determines that the tilt direction of the cylindrical member M and the direction of the X-axis component of the hole reaction force are the same (YES in step S202), it proceeds to the following processing (step S205).

[0046] The control device 1 determines whether the X-axis component of the hole reaction force of the cylindrical member M reaches a predetermined load and the movement of the cylindrical member M stops (step S204).

[0047] 9(2), when the control device 1 determines that the movement of the cylindrical member M has stopped (YES in step S204), it controls the robot arm 2 to move the cylindrical member M in an arc along the circumferential opening edge of the hole S while applying a predetermined load in the opposite direction to the X-axis component of the hole reaction force and while applying a predetermined load in the direction of the Y-axis component of the hole reaction force (step S205). At this time, the control device 1 moves the cylindrical member M while recording each position and the sensor value of the force sensor.

[0048] When the control device 1 determines that the direction of the Y-axis component of the hole reaction force has changed and the value of the Y-axis component has reached a predetermined value, it controls the robot arm 2 to stop the movement of the cylindrical member M (step S206).

[0049] As shown in Figure 9 (3), the control device 1 sets the midpoint of the two points (the two stop positions) where the Y-axis component of the hole reaction force reverses sign at a predetermined value as the insertion start position P, controls the robot arm 2 to move the cylindrical member M to this insertion start position P (step S207), and terminates this process.

[0050] As shown in Figure 9(0), when the control device 1 determines that the Y-axis component of the hole reaction force is equal to or less than a predetermined value (YES in step S201), it controls the robot arm 2 to move the cylindrical member M in the direction of the X-axis component of the hole reaction force while applying a predetermined load (step S208).

[0051] The control device 1 determines whether or not the X-axis component of the hole reaction force reaches a predetermined load and the movement of the cylindrical member M has stopped (step S209).

[0052] When the control device 1 determines that the movement of the cylindrical member M has stopped (YES in step S209), the control device 1 ends this process.

[0053] As described above, when the circumferential edge of the tip of the cylindrical member M and the circumferential opening edge of the hole S abut at two points, the control device 1 moves the cylindrical member M linearly in the direction opposite to the inclination direction of the cylindrical member M.

[0054] On the other hand, as shown in Figure 10, when the circumferential edge of the tip of the cylindrical member M abuts against the circumferential opening edge of the hole S at one point and the tilt direction of the cylindrical member M differs from the direction of the X-axis component of the hole reaction force, the control device 1 controls the robot arm 2 to move the cylindrical member M linearly in the direction opposite to the tilt direction of the cylindrical member M, and then move it in an arc along the circumferential opening edge of the hole S (L1).

[0055] When the circumferential edge of the tip of the cylindrical member M abuts against the circumferential opening edge of the hole S at one point and the inclination direction of the cylindrical member M and the direction of the X-axis component of the hole reaction force are the same, the control device 1 moves the cylindrical member M in an arc along the circumferential opening edge of the hole S (L2).

[0056] In this way, according to the control method of this embodiment, the cylindrical member M can be efficiently moved to the insertion start position P without performing any unnecessary operations.

[0057] Next, the control device 1 controls the robot arm 2 to move the cylindrical member M to the insertion start position P, and then inserts the cylindrical member M into the hole S from the insertion start position P.

[0058] As shown in FIG. 11(1), a reaction force indicated by an arrow (a) is generated in the cylindrical member M at the insertion start position P. This reaction force generates a moment force indicated by an arrow (b) in the cylindrical member M. By utilizing this moment force, the cylindrical member M is inserted in a tracking manner, and the inclination angle θ of the cylindrical member M is adjusted. xy However, if copying insertion is started when the cylindrical member M is already inserted deep into the hole S, the opposite end of the cylindrical member M may ride up on the shoulder of the hole S.

[0059] In contrast, the control device 1 according to this embodiment estimates the insertion amount into the hole S based on the Z position displacement when it is detected that the cylindrical member M has been caught in the hole S. Then, the control device 1 controls the robot arm 2 to raise the cylindrical member M in the vertical direction by the estimated insertion amount (FIG. 11(1)), and raises the cylindrical member M by an inclination angle θ xy (FIG. 11(2)). This allows the cylindrical member M to be positioned vertically directly above the hole S. The control device 1 may calculate the insertion amount into the hole S based on the designed height of the cylindrical member M.

[0060] Finally, the control device 1 controls the robot arm 2 to lower the cylindrical member M in the Z direction (FIG. 11(3)).

[0061] This allows the cylindrical member M to be inserted into the hole S, for example, even if the cylindrical member M is not chamfered and there is almost no clearance between the diameter of the hole S and the diameter of the cylindrical member M. Furthermore, even in cases such as press-fitting, a force within the output range of the actuator of the robot arm 2 can be applied.

[0062] The control device 1 may insert the cylindrical member M into the hole S from the insertion start position P using the tracking control of the robot arm 2.

[0063] As shown in FIG. 12(1), a reaction force indicated by an arrow (a) is generated in the cylindrical member M at the insertion start position P. The control device 1 controls the robot arm 2 to keep the direction of the X-axis component of this reaction force constant. That is, the control device 1 applies a predetermined load to the cylindrical member M, and rotates the cylindrical member M in a direction θ with the center of the upper end (center of the tool tip) O of the cylindrical member M as the center. y The load of the robot arm 2 is controlled by rotating it and moving it in the X-axis direction.

[0064] At this time, if the clearance between the cylindrical member M and the hole S is small and the cylindrical member M is inserted deep into the hole S, there is a possibility that the end of the cylindrical member M opposite the contact point will run onto the hole S. In this case, an upward reaction force in the Z-axis direction is generated on the cylindrical member M, and when this reaction force is detected by the force sensor in the hand unit, the control device 1 stops the load control of the robot arm 2 described above.

[0065] Then, the control device 1 controls the robot arm 2 to lift the cylindrical member M in the Z-axis direction by a predetermined amount, or to lift the cylindrical member M in the Z-axis direction so that the reaction force is equal to or less than a predetermined value. After that, the control device 1 again performs the load control of the robot arm 2 as described above. Through the above operations, the cylindrical member M enters the hole S and stands upright (FIG. 12(2)). Finally, the control device 1 controls the robot arm 2 to lower the cylindrical member M in the Z-axis direction (FIG. 12(3)). This allows the cylindrical member M to be inserted into the hole S, for example, even if the cylindrical member M is not chamfered and there is almost no clearance between the diameter of the hole S and the diameter of the cylindrical member M.

[0066] In the above embodiment, the control device 1 controls the robot arm 2 to move the cylindrical member M along the circumferential opening edge of the hole S while applying a predetermined load parallel to the plane in accordance with the direction of the hole reaction force parallel to the plane including the circumferential opening edge of the hole S, and stops the movement at the insertion start position P of the cylindrical member M, but this is not limited to this.

[0067] The control device 1 may control the robot arm 2 to move the cylindrical member M while applying a predetermined load in the direction of the hole reaction force parallel to a plane including the circumferential opening edge of the hole S (toward the center of the hole S) and in a direction perpendicular to the plane and approaching the hole S, and may stop the movement at the insertion start position P of the cylindrical member M. This allows the cylindrical member M to be moved efficiently to the insertion start position P without any unnecessary movements, as in the above embodiment.

[0068] The present disclosure can also be implemented by causing a processor to execute a computer program to perform the processes shown in FIG. 2 or FIG. 8, for example.

[0069] The program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0070] The program may be provided to the computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can provide the program to the computer via a wired communication path such as an electrical wire or optical fiber, or via a wireless communication path.

[0071] Each part constituting the control device 1 according to the above-described embodiment can be realized not only by a program, but also in part or in whole by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

[0072] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0073] Each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but also to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0074] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) holding a cylindrical member by a robot arm and tilting the held cylindrical member with respect to an axis of the hole; a step of moving the inclined cylindrical member by the robot arm so that a circumferential edge of a tip end of the cylindrical member abuts against a circumferential opening edge of the hole; a step of moving the cylindrical member by the robot arm along the circumferential opening edge of the hole in a direction parallel to a plane including the circumferential opening edge of the hole while applying a predetermined load in accordance with a direction of a reaction force that the circumferential end edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to the plane including the circumferential opening edge of the hole, and stopping the movement at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position by the robot arm; include, How to insert parts. (Appendix 2) 10. The component insertion method according to claim 1, When the circumferential edge of the tip of the cylindrical member and the circumferential opening edge of the hole come into contact at two points, the cylindrical member is linearly moved in a direction opposite to the inclination direction of the cylindrical member, When the circumferential edge of the tip of the cylindrical member and the circumferential opening edge of the hole abut at one point and the inclination direction of the cylindrical member and the direction of the component of the reaction force in the inclination direction are different, the cylindrical member is moved linearly in the direction opposite to the inclination direction of the cylindrical member, and then moved in an arc along the circumferential opening edge of the hole, When the circumferential edge of the tip of the cylindrical member and the circumferential opening edge of the hole come into contact at one point and the inclination direction of the cylindrical member and the direction of the component of the reaction force in the inclination direction are the same, the cylindrical member is moved in an arc along the circumferential opening edge of the hole. How to insert parts. (Appendix 3) 10. The component insertion method according to claim 1, At the insertion start position, the cylindrical member is raised by a predetermined amount relative to the hole, and the cylindrical member is rotated to align the axis of the cylindrical member with the axis of the hole, and then the cylindrical member is inserted into the hole. How to insert parts. (Appendix 4) 10. The component insertion method according to claim 1, a position where the inclination direction of the cylindrical member and the reaction force direction at the contact point between the cylindrical member and the hole are the same is set as the insertion start position, and the cylindrical member is inserted into the hole at the insertion start position by the robot arm. How to insert parts. (Appendix 5) a robot arm that holds and moves a cylindrical member; a control means for controlling the operation of the robot arm, the control means holds the cylindrical member and tilts the held cylindrical member obliquely with respect to the axis of the hole; the inclined cylindrical member is moved so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a direction of a reaction force that the circumferential edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, the cylindrical member being moved along the circumferential opening edge of the hole in a direction parallel to the plane while applying a predetermined load, and the movement being stopped at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position; and controlling the operation of the robot arm so that Robot control device. (Appendix 6) controlling the robot arm to tilt the cylindrical member relative to the axis of the hole; a process of controlling the robot arm to move the inclined cylindrical member and bring the circumferential edge of the tip of the cylindrical member into contact with the circumferential opening edge of the hole; a process of controlling the robot arm to move the cylindrical member along the circumferential opening edge of the hole in a direction parallel to a plane including the circumferential opening edge of the hole while applying a predetermined load, in accordance with a direction of a reaction force that the circumferential edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to the plane including the circumferential opening edge of the hole, and to stop the movement at an insertion start position of the cylindrical member; a process of controlling the robot arm to insert the cylindrical member into the hole at the insertion start position; A control program that causes a computer to execute the above. (Appendix 7) holding a cylindrical member with a robot arm and tilting the held cylindrical member with respect to an axis of the hole; a step of moving the inclined cylindrical member by the robot arm so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a step of moving the cylindrical member by the robot arm while applying a predetermined load in a direction of a reaction force that the circumferential edge of the cylindrical member receives from the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, and in a direction perpendicular to the plane and approaching the hole, and stopping the movement at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position by the robot arm; include, How to insert parts. (Appendix 8) 10. The component insertion method according to claim 1, At the insertion start position, the cylindrical member is raised by a predetermined amount relative to the hole, and the cylindrical member is rotated to align the axis of the cylindrical member with the axis of the hole, and then the cylindrical member is inserted into the hole. How to insert parts. (Appendix 9) a robot arm that holds and moves a cylindrical member; a control means for controlling the operation of the robot arm, The control means holding the cylindrical member and tilting the held cylindrical member obliquely with respect to the axis of the hole; the inclined cylindrical member is moved so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; the cylindrical member is moved while applying a predetermined load in a direction parallel to a plane including the circumferential opening edge of the hole, in which a reaction force is applied to the circumferential edge of the cylindrical member from the hole, and in a direction perpendicular to the plane and approaching the hole, and the movement is stopped at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position; and controlling the operation of the robot arm so that Robot control device. (Appendix 10) A process of controlling the robot arm so as to tilt the cylindrical member obliquely relative to the axis of the hole; a process of controlling the robot arm to move the inclined cylindrical member so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a process of moving the cylindrical member with the robot arm while applying a predetermined load in a direction of a reaction force that the circumferential edge of the cylindrical member receives from the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, and in a direction perpendicular to the plane and approaching the hole, and controlling the robot arm so as to stop the movement at an insertion start position of the cylindrical member; a process of controlling the robot arm so as to insert the cylindrical member into the hole at the insertion start position; to the computer, Control program.

[0075] Some or all of the elements (e.g., configurations and functions) described in Supplementary Note 2 to Supplementary Note 4 that are dependent on Supplementary Note 1 {e.g., method} may also be dependent on Supplementary Note 5 {e.g., device} and Supplementary Note 6 {e.g., program} in the same dependency relationship as Supplementary Note 2 to Supplementary Note 4. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0076] 1. Control device 2. Robotic Arm 11 processors 12 Internal Memory 13 Storage Devices 14 Input / Output Interface 15 Communication I / F

Claims

1. holding a cylindrical member by a robot arm and tilting the held cylindrical member with respect to an axis of the hole; a step of moving the inclined cylindrical member by the robot arm so that a circumferential edge of a tip end of the cylindrical member abuts against a circumferential opening edge of the hole; a step of moving the cylindrical member by the robot arm along the circumferential opening edge of the hole in a direction parallel to a plane including the circumferential opening edge of the hole while applying a predetermined load in accordance with a direction of a reaction force that the circumferential end edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to the plane including the circumferential opening edge of the hole, and stopping the movement at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position by the robot arm; include, How to insert parts.

2. 2. The component insertion method according to claim 1, When the circumferential edge of the tip of the cylindrical member and the circumferential opening edge of the hole come into contact with each other at two points, the cylindrical member is linearly moved in a direction opposite to the inclination direction of the cylindrical member, When the circumferential edge of the tip of the cylindrical member and the circumferential opening edge of the hole abut at one point and the inclination direction of the cylindrical member and the direction of the component of the reaction force in the inclination direction are different, the cylindrical member is moved linearly in the direction opposite to the inclination direction of the cylindrical member, and then moved in an arc along the circumferential opening edge of the hole, When the circumferential edge of the tip of the cylindrical member and the circumferential opening edge of the hole come into contact at one point and the inclination direction of the cylindrical member and the direction of the component of the reaction force in the inclination direction are the same, the cylindrical member is moved in an arc along the circumferential opening edge of the hole. How to insert parts.

3. 2. The component insertion method according to claim 1, At the insertion start position, the cylindrical member is raised by a predetermined amount relative to the hole, and the cylindrical member is rotated to align the axis of the cylindrical member with the axis of the hole, and then the cylindrical member is inserted into the hole. How to insert parts.

4. 2. The component insertion method according to claim 1, a position where the inclination direction of the cylindrical member and the reaction force direction at the contact point between the cylindrical member and the hole are the same is set as the insertion start position, and the cylindrical member is inserted into the hole at the insertion start position by the robot arm. How to insert parts.

5. a robot arm that holds and moves a cylindrical member; a control means for controlling the operation of the robot arm, the control means holds the cylindrical member and tilts the held cylindrical member obliquely with respect to the axis of the hole; the inclined cylindrical member is moved so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a direction of a reaction force that the circumferential edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, the cylindrical member being moved along the circumferential opening edge of the hole in a direction parallel to the plane while applying a predetermined load, and the movement being stopped at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position; and controlling the operation of the robot arm so that Robot control device.

6. controlling the robot arm to tilt the cylindrical member relative to the axis of the hole; a process of controlling the robot arm to move the inclined cylindrical member and bring the circumferential edge of the tip of the cylindrical member into contact with the circumferential opening edge of the hole; a process of controlling the robot arm to move the cylindrical member along the circumferential opening edge of the hole in a direction parallel to a plane including the circumferential opening edge of the hole while applying a predetermined load, in accordance with a direction of a reaction force that the circumferential edge of the cylindrical member receives from the circumferential opening edge of the hole, the direction of the reaction force being parallel to the plane including the circumferential opening edge of the hole, and to stop the movement at an insertion start position of the cylindrical member; a process of controlling the robot arm to insert the cylindrical member into the hole at the insertion start position; A control program that causes a computer to execute the above.

7. holding a cylindrical member with a robot arm and tilting the held cylindrical member with respect to an axis of the hole; a step of moving the inclined cylindrical member by the robot arm so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a step of moving the cylindrical member by the robot arm while applying a predetermined load in a direction of a reaction force that the circumferential edge of the cylindrical member receives from the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, and in a direction perpendicular to the plane and approaching the hole, and stopping the movement at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position by the robot arm; include, How to insert parts.

8. 8. The component insertion method according to claim 7, At the insertion start position, the cylindrical member is raised by a predetermined amount relative to the hole, and the cylindrical member is rotated to align the axis of the cylindrical member with the axis of the hole, and then the cylindrical member is inserted into the hole. How to insert parts.

9. a robot arm that holds and moves a cylindrical member; a control means for controlling the operation of the robot arm, The control means holding the cylindrical member and tilting the held cylindrical member obliquely with respect to the axis of the hole; the inclined cylindrical member is moved so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; the cylindrical member is moved while applying a predetermined load in a direction parallel to a plane including the circumferential opening edge of the hole, in which a reaction force is applied to the circumferential edge of the cylindrical member from the hole, and in a direction perpendicular to the plane and approaching the hole, and the movement is stopped at an insertion start position of the cylindrical member; inserting the cylindrical member into the hole at the insertion start position; and controlling the operation of the robot arm so that Robot control device.

10. A process of controlling the robot arm so as to tilt the cylindrical member obliquely relative to the axis of the hole; a process of controlling the robot arm to move the inclined cylindrical member so that the circumferential edge of the tip of the cylindrical member abuts against the circumferential opening edge of the hole; a process of moving the cylindrical member with the robot arm while applying a predetermined load in a direction of a reaction force that the circumferential edge of the cylindrical member receives from the hole, the direction of the reaction force being parallel to a plane including the circumferential opening edge of the hole, and in a direction perpendicular to the plane and approaching the hole, and controlling the robot arm so as to stop the movement at an insertion start position of the cylindrical member; a process of controlling the robot arm so as to insert the cylindrical member into the hole at the insertion start position; to the computer, Control program.

Images