Assembling apparatus and method, and assembling operation program
AssigneeDainippon Screen Mfg. Co., Ltd.
InventorHiroyuki Onishi
Life of this patent
Estimating the term…
Abstract
In an assembling apparatus according to the present invention, a control portion controls an operation of a working portion such that a first reference position, which corresponds to a first reference point of an assembling component defined in three-dimensional model data of the assembling component, and a second reference position, which corresponds to a second reference point of the assembling component defined in three-dimensional model data of an assembled component, are associated with each other. Therefore, it is possible to carry out an assembling operation properly and efficiently irrespective of a positional shift of the assembled component.
Claims15
An assembling apparatus comprising:
- a working portion for assembling a first component serving as an assembling component into a second component serving as an assembled component;
- a recognizing portion for recognizing three-dimensional positions and postures of said first component and said second component;
- and
- a control portion for controlling an operation of said working portion based on the recognition of the three-dimensional positions and the postures in said recognizing portion, wherein
- said control portion controlling an operation of said working portion such that a first reference position and a second reference position are associated with each other, said first reference position being set to said first component in an actual space recognized by said recognizing portion as a corresponding position to a predetermined first reference point set to three-dimensional model data of said first component, said second reference position being set to said second component in the actual space recognized in said recognizing portion as a corresponding position to a predetermined second reference point set to three-dimensional model data of said second component, and
- said second reference point serves to designate a place related to an assembly of said first component over the three-dimensional model data of said second component.
An assembling method in an assembling apparatus comprising a working portion for assembling a first component to be an assembling component into a second component to be an assembled component, comprising the steps of:
- (a) recognizing three-dimensional positions and postures of said first component and said second component;
- and
- (b) controlling, based on the recognition of the three-dimensional positions and the postures in said step (a), an operation of said working portion such that a first reference position and a second reference position are associated with each other, said first reference position being set to said first component in an actual space which is recognized as a corresponding position to a predetermined first reference point set to three-dimensional model data of said first component, a second reference position set to said second component in the actual space which is recognized as a corresponding position to a predetermined second reference point se to three-dimensional model data of said second component,
- wherein said second reference point serves to designate a place related to an assembly of said first component over the three-dimensional model data of said second component.
Dependencies are inferred from the claim text.