US 2018/0207755 A1 · GEAR MECHANISM ASSEMBLY APPARATUS AND ASSEMBLY METHOD

Abstract

This apparatus has first and second imaging devices for imaging first and second gears; a robot having the first imaging device; and an image processing system for acquiring a fitting position of a second gear and a phase of a first gear by processing an image of the first imaging device, and for acquiring a phase of the second gear and a position of a gear shaft of the second gear by processing an image of the second imaging device. A gear mechanism is assembled by controlling the robot based on the information acquired by the image processing system so as to position the gear shaft of the second gear held by the hand to a fitting position of the second gear and also position the phase of the second gear to the phase of the first gear. The gear mechanism is easily assembled by fitting gears using the robot.

Claims18

Dependent claims

A gear mechanism assembly apparatus for assembling a gear mechanism by fitting a second gear to a first gear, comprising:

a robot having a hand for holding the second gear;
a first imaging device provided to the hand for imaging the first gear,
a second imaging device for imaging the second gear, and
an image processing system for acquiring a fitting position of the second gear and a phase of the first gear by processing an image imaged by the first imaging device, and for acquiring a phase of the second gear and a position of a gear shaft of the second gear by processing an image imaged by the second imaging device,
wherein the gear mechanism assembly apparatus is configured such that the gear mechanism is assembled using the robot by controlling the robot based on an information acquired by the image processing system so as to position the gear shaft of the second gear held by the hand to a fitting position of the second gear in the first gear and also position the phase of the second gear to the phase of the first gear.

2 more elements

A gear mechanism assembly method of assembling a gear mechanism by fitting a second gear to a first gear using a robot, comprising:

a first gear measuring step of acquiring a fitting position of the second gear in the first gear and a phase of the first gear;
and
a second gear measuring step of acquiring a phase of the second gear and a position of a gear shaft,
wherein the gear mechanism is assembled using the robot by controlling the robot based on an information acquired by the first gear measuring step and the second gear measuring step so as to position the gear shaft of the second gear held by a hand of the robot to a fitting position of the second gear in the first gear and also position the phase of the second gear to the phase of the first gear.

1 more element

Dependencies are inferred from the claim text.

Gear mechanism assembly apparatus and assembly method

Life of this patent

Gear mechanism assembly apparatus and assembly method

Life of this patent

Abstract

Claims18