Title:
ASSEMBLING METHOD AND DEVICE
Document Type and Number:
Japanese Patent JP3961408
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an assembling method and a device efficiently ensuring insertion, capable of easily detecting inserting and fitting positions and easily performing automatic assembling.
SOLUTION: When a bottle-shaped workpiece is inserted into a hole of an object, an insertable range 10 is determined by a clearance amount of the workpiece and the hole, and a chamfer amount provided in the hole. The insertable range 10 is formed within a radius r from a hole center position 3cp. Where the center position of the workpiece is 1cp, while search regions (XL to XU) in the X-axis direction is moved once, an amount of the insertable range is moved by 2r or less in the Y-axis direction. As shown by a broken line, the search regions (XL to XU, and YL to YU) are moved, the workpiece center 1cp inevitably passes the insertable range 10. When the workpiece center 1cp enters within the insertable range 10, the workpiece is pressed in the direction of the object, and the workpiece is thereby inserted into the hole.
Inventors:
Tetsuro Kato
Takayuki Sato
Takayuki Sato
Application Number:
JP2002338022A
Publication Date:
August 22, 2007
Filing Date:
November 21, 2002
Export Citation:
Assignee:
FANUC Corporation
International Classes:
B23P19/02; B23P19/00; B23P19/12; B25J9/16; B25J13/00; (IPC1-7): B23P19/02; B25J9/16
Domestic Patent References:
| JP8197342A | ||||
| JP2002254257A |
Attorney, Agent or Firm:
Matsuji Takemoto
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro