Component insertion device with dummy component, and component insertion method and computer readable recording medium of using the same

A component insertion device, by which a receiving portion having a slot or a hole is inserted with a specific part of a workpiece component that has a shape fitting the slot or the hole, the component insertion device comprising:

• a robot;
• and
• a control portion that controls the operation of the robot;
• wherein
• the robot comprises:
• a gripper configured for gripping the workpiece component in a state that the specific part protrudes outward;
• a dummy component that is mounted protruding outward on a location in the gripper, the location being away from the gripped workpiece component, wherein the dummy component has a corresponding part with the same shape as the shape of the specific part of the workpiece component and exhibits rigidity;
• and
• a force sensor configured for detecting, through the gripper, a contact reaction force received by the dummy component from the surrounding of the slot or the hole of the receiving portion;
• and
• the control portion comprises:
• a first insertion processing portion configured to perform, in a state that the receiving portion is arranged in a movable range of the robot, a processing in which the corresponding part of the dummy component is capable of being inserted into the slot or the hole of the receiving portion by the robot through compliance control of the robot, wherein the compliance control is based on output of the force sensor and uses a position and a posture of a front end of the robot and a force applied to the front end of the robot to make the robot move gently;
• a recognition processing portion configured to perform, in a state that the corresponding part of the dummy component is inserted into the slot or the hole of the receiving portion, a processing in which a position and a posture of the slot or the hole are recognized by using a position and a posture of the robot as a reference;
• and
• a second insertion processing portion configured to perform, in a state of maintaining the arrangement of the receiving portion, a processing in which the outwardly protruding specific part of the workpiece component gripped in the gripper is inserted into the slot or the hole of the receiving portion based on the position and the posture of the slot or the hole by the robot through position control.