Fitting device

Abstract

A fitting device for fitting a first fitting member held in a hand mounted at the forward end of a robot arm to a corresponding second fitting member, comprising a detection unit for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit for judging, based on the force or moment detected by the detection unit, whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points.; In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm. In the two-point contact state, the fitting operation is caused to proceed further while the holding posture of the robot arm is changeable. As a result, the first fitting member can be fitted in the second fitting member while keeping the robot arm in the normal posture.

Description

technical field [0001] The invention relates to a matching device for matching a matching component grasped by a manipulator installed at the front end of a robot arm with other corresponding matching components. Background technique [0002] At present, cooperation is performed using a control rule imitating RCC (remote center compliance) by constructing virtual compliance. Japanese Patent Application Publication No. 04-43744 discloses a method of fitting a rod-shaped mating member held by a robotic hand of a robot with a mating hole of a mated member. [0003] Figure 8 It is used to illustrate the matching operation of the prior art disclosed in "Quasi-static Assembly of Elastically Supported Rigid Parts" (Daniel E. Whitney, Robot Mo-Sion III. HBJ Publishing Bureau, pp.151-185, 1982). In the prior art, since a control rule imitating RCC is used, the same phenomenon occurs as in the above-mentioned "quasi-static assembly of elastically supported rigid parts" which analyze...

AI Technical Summary

Problems solved by technology

However, if Figure 8 As shown, in the prior art, when the mating member 60 comes into contact with the chamfered portion 52 of the mated member 50 at one point (point A), the angle θ increases, and the posture of the mating member 60 can temporarily deviate from the normal posture.

At this time, after the two points come into contact, the fitting member 60 may be blocked inside the fitting hole 51, or may be engaged with the inner surface of the fitting hole 51, and thus the fitting work is likely to fail.

[0009] In addition, it is impossible to determine in which direction the posture of the fitting member 60 should be changed from the force and / or moment that acts when the fitting member 60 contacts the chamfered portion 52 at one point.

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