Patent ID: 7177722
Filing Date: 2007-02-13
Classification: B23P,B25J

Abstract:
1. An assembling method for inserting a workpiece into an object at an insertion position using a robot, comprising the steps of: setting search ranges and different periods of reciprocating motions and allowable ranges within which the workpiece is insertable into the object for a plurality of search directions; and finding the insertion position by simultaneously performing the reciprocating motions of the workpiece relative to the object in the plurality of search directions while pressing the workpiece against the object in a pressing direction using the robot such that while the workpiece is moved by the set search range in the reciprocating motion of a first period in one search direction, the workpiece is moved by an amount not greater than the set allowable range in the reciprocating motion in another search direction of a second period next shortest to the first period.