Patent ID: 9032603
Filing Date: 2015-05-19
Classification: B23P,B25J,G05B,Y10S,Y10T

Abstract:
1. A method of assembling components by using an automated assembly apparatus that includes a grasping mechanism and a force sensor that detects a force and a moment applied to the grasping mechanism, the method comprising the steps of: placing a first component in a range within which the automated assembly apparatus is movable; grasping a second component which is to be fitted to the first component, by using the grasping mechanism; bringing the second component grasped by the grasping mechanism into contact with the first component; and performing an angle matching of the first component and the second component by detecting a moment created around a specific rotation axis using the force sensor while rotating the first component and the second component with respect to each other around the specific rotation axis, and by stopping the rotation of the first component and the second component with respect to each other when the moment exceeds a predetermined threshold to detect that assembly of the first component and the second component is complete, wherein in the step of performing the angle matching, the first component and the second component are not rotated when a time differential value of the moment exceeds a predetermined threshold.