Patent ID: 6701196
Filing Date: 2004-03-02
Classification: B23P,B25J

Abstract:
An automatic position-finding assembling method for inserting an insert member held by an end effector of an assembling robot into a mating opening of a receiving member to assemble a predetermined assembly, said automatic position-finding assembling method comprising the steps of:positioning the insert member relative to the mating opening of the receiving member by moving the insert member held by the end effector relative to the receiving member; and pressing the insert member against the receiving member by a pressing force applied to the insert member in a direction parallel to a third axis by the end effector compliant with respect to directions parallel to first and second axes perpendicular to the third axis; wherein in the step of pressing the insert member against the receiving member, a compliance center of the insert member is moved along a predetermined groping route with the pressing force applied to the insert member in the direction parallel to the third axis by the end effector; and wherein the groping route is set for repetition of a radially outward movement from a position near a center of the mating opening of the receiving member in different phases in a plane defined by the first and the second axes.