Automatic assembly control system
AssigneeHitachi, Ltd.
InventorsKiyoo Takeyasu, Tatsuo Goto, Tadao Inoyama, Takeshi Tokunaga, Osamu Isoo, Shigeru Matsuoka
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Abstract
In an automatic assembly control system, a flexible coupling mechanism deformable in accordance with the relative positions of an object and a hole to receive the object therein and a detector to detect the displacement or the deformation of the coupling mechanism in the direction of insertion in excess of a certain value are provided so that in the process of inserting the object into the hole the distance between the object and the hole in the direction perpendicular to the direction of insertion is controlled in accordance with the output of the detector.
Claims15
An automatic assembly control system for inserting an object into a hole, comprising
- a holding mechanism for holding said object;
- a positioning mechanism for actuating drive means along the axes of an arbitrary coordinate system;
- a flexible mechanism for flexibly coupling said holding mechanism to said positioning mechanism so that said holding and positioning mechanisms may shift in the direction of insertion and in the direction perpendicular to the direction of insertion;
- and
- a detecting means for detecting force applied to said holding mechanism in the direction of insertion, wherein said object is positioned approximately at the center of said hole by said positioning mechanism and then the inserting operation is performed by applying force below a predetermined value to said object in the direction of insertion, wherein when the restriction of said object in said direction of insertion is detected, a search motion in the direction perpendicular to said direction of insertion is performed to find a position where said restriction is released, and wherein the inserting operation with said force below said predetermined value is again performed at said position.
Dependencies are inferred from the claim text.