JP6127776B2 - Workpiece assembly apparatus and workpiece assembly method - Google Patents

Description

  The present invention relates to a workpiece assembling apparatus and a workpiece assembling method.

  Conventionally, in the process of assembling parts such as electronic parts to a workpiece such as a substrate using an articulated robot, the workpiece is transported using a belt conveyor, and the workpiece is stopped at a predetermined position. The parts were held with the robot hand provided and assembled to the workpiece.

  Here, in order to assemble the parts at the correct position of the workpiece with the robot hand, it is necessary to control the position of the robot hand. Conventionally, an encoder is attached to a belt conveyor that conveys a workpiece, and it is confirmed that the workpiece has arrived at the work position of the robot hand. Further, in order to control the position of the robot hand, the distance from the work object is measured by a sensor attached to the robot hand, and the articulated robot is controlled so that the output of the displacement sensor becomes equal.

Japanese Patent Laid-Open No. 6-23585

  However, when the encoder is used, the position of the workpiece can be detected in the conveying direction, but when the belt of the conveyor device is bent and the position of the workpiece is shifted in the vertical direction or the lateral direction intersecting the conveying direction. The component could not be correctly mounted at the predetermined position of the workpiece. Furthermore, when a sensor is provided in the robot hand, the robot hand is increased in size by the sensor, and work in a narrow area becomes difficult.

Also, the position of the robot hand could not be detected correctly unless another reference component was mounted on the workpiece. Furthermore, at the stage where another part is not mounted on the workpiece, the reference does not exist on the workpiece, so the position of the robot hand cannot be detected correctly. Furthermore, the position of the robot hand could not be detected correctly even when the entire workpiece was tilted or when the reference component was tilted and mounted on the workpiece. Furthermore, in the conventional apparatus, it is difficult to correct the position of the robot hand while the work is being conveyed by the conveyor device, and to mount the component on the work.
In view of this, an object of one aspect of the present invention is to make it possible to correctly detect the position of a robot hand in a substrate assembly process.

  According to one aspect of the embodiment, a hand that can move by gripping a part to be placed on a work, a sensor block that is placed on the work and has a sensor that can detect the position of the hand, and And a control device for controlling the position of the hand so that the distance from the sensor block to the hand becomes a predetermined value.

  Moreover, according to another viewpoint of embodiment, the position of the hand which arrange | positions the sensor block which has a some sensor on the moving workpiece | work, uses the said sensor block, and holds the parts mounted on the said workpiece | work. After the part is placed at a predetermined position on the work, the sensor block is retracted from the work, and a work assembling method is provided.

  Since the structure of the hand can be simplified, the hand can be reduced in size and weight, and workability is improved.

FIG. 1 is a diagram illustrating an example of a schematic configuration of a workpiece assembling apparatus according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of the arrangement of the robot hand and the sensor block in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 3 is a bottom view showing an example of a sensor block of the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 4 is a flowchart showing an example of an assembling method in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 5 is a diagram schematically showing an example of initial information in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of dimension data of the robot hand and the sensor block in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 7 is a diagram for explaining an example when the position of the workpiece is shifted in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 8 is a diagram for explaining an example when the position of the sensor block is shifted in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 9 is a schematic diagram showing an example in the case of measuring the tilt around the X axis of the sensor block and the robot hand in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 10 is a schematic diagram illustrating an example of measuring the tilt around the Y axis of the sensor block and the robot hand in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 11 is a schematic diagram showing an example in the case of measuring the tilt around the Z axis of the sensor block and the robot hand in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 12 is a schematic diagram showing an example of a state in which the tilt around the Z axis of the robot hand is corrected in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 13 is a schematic diagram showing an example of correcting the horizontal position of the robot hand in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 14 is a schematic diagram illustrating an example of correcting the position of the robot hand in the height direction in the workpiece assembling apparatus according to the embodiment of the present invention. FIG. 15 is a diagram illustrating an example of a state in which parts are placed on a workpiece with a robot hand in the workpiece assembling apparatus according to the embodiment of the present invention.

The objects and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
The foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the invention.

FIG. 1 shows a schematic configuration of a workpiece assembling apparatus including a position detecting device.
The assembly device 1 detects the position of a conveyor device 2 that transports a substrate W as a workpiece, an articulated robot 3 that mounts components on the substrate W, and a robot hand 4 attached to the tip of the articulated robot 3. The position detecting device 5, at least one part storage 6 that holds parts such as electronic parts, and a control device 7 are included.

  The conveyor device 2 has a configuration in which the chain 11 is wound around a plurality of sprockets (not shown). A hook 13 extending from a leg portion of the table 12 on which the substrate W is placed is engaged with the chain 11. Rollers 14 are attached to the legs of the table 12 so that they can move on the floor surface. In the conveyor device 2, the table 12 engaged with the chain 11 can be transported in a predetermined transport direction as indicated by an arrow in FIG. 1 by rotating the sprocket. The conveyor device 2 may have other configurations such as a belt type.

  The multi-joint robot 3 has a configuration in which a plurality of arm portions are connected by a plurality of joints, for example, six joints, and is attached to the support member 21 above the conveyor device 2. The robot hand 4 at the tip of the multi-joint robot 3 has a grip portion 42 attached to a main body portion 41. By using the grip portion 42, parts such as electronic parts, sensor blocks 31 included in the position detection device, 32 can be gripped.

  As shown in FIG. 2 in which the robot hand 4 and the sensor blocks 31 and 32 are enlarged, the main body portion 41 of the robot hand 4 intersects the first surface 41A and the first surface 41A, for example, is arranged orthogonally. A second surface 41B is provided, and reflectors 51, 52, 53, 54, and 55 are provided on the respective surfaces 41A and 41B. The first surface 41A has two first and second reflectors 51 and 52 extending in the vertical direction, and a triangular third reflection disposed between the first and second reflectors 51 and 52. And a body 53. Furthermore, the first surface 41A has a fourth reflector 54 above the third reflector 53. The fourth reflector 54 extends perpendicular to the third reflector 53. In addition, a square fifth reflector 55 is provided on the second surface 41B. Each of the reflectors 51 to 55 is manufactured using a material that can reflect or diffusely reflect light output from the sensor blocks 31 and 32 and a surface treatment. Except for the third reflector 53, each reflector 51, 52, 54, 55 is formed from a plane parallel to the first surface 41A or the second surface 41B. The third reflector 53 has a lower portion protruding, and an upper portion extending toward the first surface 51 forms an inclined surface 53A. Here, the inclination angle of the inclined surface 53A of the third reflector 53 is preferably other than 45 degrees.

Next, the position detection device 5 shown in FIG. 1 will be described.
The position detection device 5 includes sensor blocks 31 and 32 that are used to detect the position of the robot hand 4. The two sensor blocks 31 and 32 are placed on the temporary storage place 68. The temporary storage place 68 is disposed within the work range of the articulated robot 3. Further, the position detection device 5 is provided with an imaging device 69 that images the substrate W from above, a substrate detection sensor 70 that is provided on the upstream side of the work range of the articulated robot 3, and detects the presence or absence of the substrate W, and the control device 7. It is comprised including. A plurality of sensors are attached to each sensor block 31, 32, and an optical fiber 60 extends from each sensor and is connected to a sensor amplifier 67. The optical fiber 60 has a sufficient length, and the sensor blocks 31 and 32 can be moved by the articulated robot 3. The sensor amplifier 67 is connected to the control device 7, and can supply power and input / output signals.

Furthermore, with reference to FIG.2 and FIG.3, the structure of the two sensor blocks 31 and 32 is demonstrated.
The sensor blocks 31 and 32 have a first sensor block 31 and a second sensor block 32, and are arranged one by one in a direction that intersects with the robot hand 4 as the center. For example, the first sensor block 31 is arranged in parallel to the X direction (the first direction in the horizontal direction). The second sensor block 32 is arranged in parallel to the Y direction (second direction in the horizontal direction). The two sensor blocks 31 and 32 are preferably arranged in parallel in two orthogonal directions, but one sensor block 31 and 32 may be arranged in each of two intersecting directions other than orthogonal.

  Alignment marks 33 are provided on the upper surfaces 31A and 32A of the sensor blocks 31 and 32, respectively, for use as marks when image processing is performed by the imaging device 69. Further, as shown in the bottom view of FIG. 3, three leg portions 34 are provided on the bottom surfaces of the sensor blocks 31 and 32. The lower end of each leg 34 is spherical, and the sensor blocks 31 and 32 are in point contact with the substrate W at three points, so that the horizontal with respect to the upper surface of the substrate W can be secured.

  In addition, a plurality of sensors 61 to 65 are attached to the sensor blocks 31 and 32. Each sensor 61-66 has a light emitting unit (not shown) and a light receiving unit arranged on the surface of the sensor blocks 31, 32 facing the robot hand 4, and the optical axis of the light output from the light emitting unit is It is set to be parallel to the sensor blocks 31 and 32, that is, to be parallel to the upper surface of the substrate W when the sensor blocks 31 and 32 are placed on the substrate W. Each sensor 61-66 is configured to be able to measure the distance from each sensor 61-66 to the robot hand 4 by outputting the light in parallel and receiving the light reflected by each reflector 51-55. . Here, each of the sensors 61 to 66 is connected to the sensor amplifier 67 via the optical fiber 60. The sensor amplifier 67 is configured to adjust the light output from the sensors 61 to 66 and to output the output signals from the sensors 61 to 66 to the control device 7.

  In the first sensor block 31, four sensors, for example, a first sensor 61, a fourth sensor 64, a fifth sensor 65, and a sixth sensor 66 are arranged. The second sensor block 32 includes two sensors, for example, a second sensor 62 and a third sensor 63.

  The first sensor 61 is disposed at a position facing the lower portion of the first reflector 51 in the first sensor block 31. The sixth sensor 66 is disposed above the first sensor 61 in the first sensor block 31, that is, at a position facing the top of the first reflector 51. The second sensor 62 is disposed at a position facing the upper part of the fifth reflector 55 of the second sensor block 32. In the second sensor block 32, the third sensor 63 is disposed below the second sensor 62, that is, at a position facing the lower part of the fifth reflector 55.

  The fourth sensor 64 is disposed at a position facing the lower part of the second reflector 52 of the first sensor block 31. The fourth sensor 64 is disposed at the same height as the first sensor 61. The fifth sensor 65 is disposed between the first and fourth sensors 61 and 64 in parallel with the two sensors 61 and 64 and at a position facing the inclined surface 53A of the third reflector 53. Yes.

Next, the operation of the assembly apparatus 1 will be described with reference mainly to the flowchart of FIG. In the flowchart of FIG. 4, a process assuming a case where a part is inserted into the substrate W is shown.
In step S101, when the control device 7 detects that the substrate W on the conveyor device 2 has reached the work area by the substrate detection sensor 70, the control device 7 performs an initial value calculation process in step S102. Subsequently, in step S103, the articulated robot 3 places the sensor blocks 31 and 32 in the vicinity of the work area on the substrate W. The work area is a range in which the robot hand 4 operates when the robot hand 4 assembles parts on the substrate W. Further, in order to correct the positional deviation of the mounting positions of the sensor blocks 31 and 32, the offset data A is created and registered in the storage device of the control device 7 in step S104.

  Subsequently, in step S105, the robot hand 4 is moved within the detection ranges of the sensors 61 to 66 of the two sensor blocks 31 and 32. In step S106, the angle of the robot hand 4 with respect to the sensor blocks 31, 32 is calculated from the sensor outputs of the two sensor blocks 31, 32, and the position of the robot hand 4 is corrected. Furthermore, in step S107, the distance from the sensor blocks 31, 32 to the robot hand 4 is calculated from the sensor outputs of the two sensor blocks 31, 32, and the position of the robot hand 4 is corrected. In step S108, the robot hand 4 is moved toward the preset teaching coordinates. For example, the robot hand 4 is slightly lowered toward the substrate W side. This operation corresponds to an operation of inserting parts into the substrate W by the robot hand 4.

  Here, as shown in step S109, steps S106 to S108 are repeated until the insertion of the parts into the substrate W is completed. Then, for example, as shown in FIG. 15, the parts taken out from the parts storage 6 by the robot hand 4 are placed at predetermined positions on the substrate W. At this time, when the electronic component 71 as a part has a pin (not shown), the pin is inserted into a hole formed at a predetermined position of the substrate W. It is determined that the part has been inserted into the substrate W, and the process proceeds to step S110.

  In step S110, the gripping of the part by the robot hand 4 is canceled, and the robot hand 4 is retracted from above the part. In step S 111, the sensor blocks 31 and 32 are removed from the substrate W by the robot hand 4 and returned to the temporary storage place 57. In step S112, the robot hand 4 is retracted from above the substrate W. Thus, the assembly work for one substrate W is completed. Thereafter, the processing from step S101 is repeated for the substrate W that has been transported next.

Next, a specific example of the initial setting process in step S102 will be described.
First, the following plurality of pre-registration information is registered in advance in the control device 7 of the assembling apparatus 1. As schematically shown in FIG. 5, the first pre-registration information is the coordinates Wbase1 and Wbase2 of the two marks W1 and W2 formed on the substrate W. The two marks W1 and W2 are formed one by one at positions that are symmetrical with respect to the center of the substrate W, for example, at two opposite corners of the substrate W.

The second pre-registration information includes the target coordinate Pbase of the component placed on the substrate W, the installation target position coordinate Abase of the sensor block 31 placed on the substrate W, and the installation target position of the sensor block 32. This is the sitting amount Bbase. Here, the target coordinate Pbase is a provisional teaching coordinate of the robot 4, that is, a coordinate serving as a target position when the robot hand 4 is brought near the sensor blocks 32 and 32. The installation target position coordinates Abase and Bbase of the two sensor blocks 31 and 32 are positions where the position of the robot hand 4 can be detected in the work area including the target coordinates Pbase.
Furthermore, as shown in FIG. 6, the third pre-registration information includes the dimensions of the sensor blocks 31 and 32, the information on the installation positions of the sensors 61 to 66 in the sensor blocks 31 and 32, the robot hand The size is 4A.

  These values can be acquired from a design drawing or the like, and are registered in advance in the storage device of the assembling apparatus 1. The coordinates Wbase1, Wbase2, Pbase, Abase, and Bbase are registered as coordinates from the center of the substrate W, for example.

  Further, as the fourth pre-registration information, a distance (Length) from the center of each of the sensor blocks 31 and 32 to the detection position of the robot hand 4 is calculated, and the calculation result is registered in the storage device of the assembly device 1 in advance. . For the sensor block 31, Length = S10 + BAd / 2. For the sensor block 32, Length = S20 + BBd / 2. Here, S <b> 10 is a design distance between the sensor block 31 and the robot hand 4. Similarly, S <b> 20 is a design distance between the sensor block 32 and the robot hand 4.

Next, a specific example of the process for creating the offset data A in step S104 will be described. The pre-registration information is used to create the offset data A.
First, when the substrate W reaches the work range of the articulated robot 3, a surface image of the substrate W is acquired by the imaging device 69. Here, for example, as shown in FIG. 7, the substrate W may be transported in a state shifted from the designed position. For this purpose, the control device 7 performs image processing on the surface image of the substrate W and acquires the actual positions of the marks W1 and W2 on the substrate W. Further, the inclination angle Wθ of the substrate W with respect to the camera coordinates and the offset amount (Wcx, Wcy) from the camera coordinate origin are calculated from the actual marks W1, W2. The offset amount (Wcx, Wcy) is acquired as coordinate data based on the camera coordinate origin, for example. Wcx indicates an offset amount in the X direction, and Wcy indicates an offset amount in the Y direction.

  Further, as shown in FIG. 8, the control device 7 calculates the centers of the sensor blocks 31 and 32 by image processing from the positions of the alignment marks 33 of the sensor blocks 31 and 32 photographed by the imaging device 68. Subsequently, a reference line A1 passing through the center of the sensor block 31 and parallel to the X axis of the camera coordinates is set. Similarly, a reference line B1 passing through the center of the sensor block 32 and parallel to the Y axis of the camera coordinates is set. The intersection of the two reference lines A1 and B1 is set as the origin G0 of the block coordinates.

  Subsequently, the inclination angle θA of the sensor block 31 and the center coordinates (BlkA_x, 0) are calculated by image processing and registered in the control device 7. The angle θA is calculated from the angle formed by the reference line B1 and the side of the sensor block 31. The center coordinates are calculated from the relative position from the origin G0. Similarly, the inclination angle θB of the sensor block 32 and the center coordinates (0, BlkB_y) are calculated by image processing and registered in the control device 7. The angle θB is calculated from the angle formed by the reference line A1 and the side of the sensor block 32. The center coordinates are calculated from the relative position from the origin G0.

Next, a specific example of the process for correcting the angle of the robot hand 4 in step S106 will be described with reference to FIGS.
As shown in FIGS. 9 and 10, the robot hand 4 is moved to the vicinity of the two sensor blocks 31 and 32, and the inclinations Xθ and Yθ of the robot hand 4 are detected. The inclination Xθ is an inclination angle of the robot hand 4 around the X axis. Further, the inclination Yθ is an inclination angle of the robot hand 4 around the Y axis. In this case, the position shift of the sensor blocks 31 and 32 is ignored, and the position of the robot hand 4 is adjusted so that the inclinations Xθ and Yθ become zero.

Here, as shown in FIG. 9, Xθ is calculated based on the measurement results of the second and third sensors 62 and 63. Specifically, Xθ is calculated by Xθ = tan ⁻¹ ((S2−S3) / dx). Here, S2 and S3 are the measured value of the second sensor 62 and the measured value of the third sensor 63, respectively, and the distance from the sensor block 31 to the robot hand 4 measured by the sensors 62 and 63 is measured. Represents. Dx is the distance between the two sensors 61 and 62.

Also, as shown in FIG. 10, Yθ is calculated based on the measurement results of the first and sixth sensors 61 and 66. Specifically, Yθ is calculated by Yθ = tan ⁻¹ ((S1−S6) / dy). Here, S1 and S6 are the measured value of the first sensor 61 and the measured value of the sixth sensor 66, respectively, and the distance from the sensor block 31 measured by each sensor 61, 66 to the robot hand 4 is determined. Represents. Further, dy is a distance between the two sensors 61 and 66.

Subsequently, the inclination Zθ of the robot hand 4 shown in FIG. 11 is obtained. The tilt Zθ is the tilt angle of the robot hand 4 about the Z axis. The inclination Zθ is calculated based on the measurement results of the first and fourth sensors 61 and 64. Specifically, Zθ is calculated by Zθ = tan ⁻¹ ((S1−S4) / dz). Here, S4 is a measurement value of the fourth sensor 64, and represents a distance from the sensor block 31 to the robot hand 4 measured by the fourth sensor 64. Dz is the distance between the two sensors 61 and 64.

  At this time, the control device 7 adds the tilt angle θA of the sensor block 31 and drives the robot hand 4 to correct the tilt Zθ. When the robot hand 4 is driven, Xθ, Yθ, and Zθ + θA are measured again. Then, the control device 7 repeats driving the robot hand 4 and measuring Xθ, Yθ, and Zθ + θA until Zθ becomes a constant value, for example, 0.1 ° or less. As a result, as shown in FIG. 12, the tilt of the robot hand 4 with respect to the X and Y axes of the camera coordinates is corrected, and the tilt becomes, for example, 0.1 ° or less.

Next, a specific example of the process for correcting the position of the robot hand 4 in step S107 will be described with reference to FIG. First, hand positions Hand_x and Hand_y are calculated, and the robot hand 4 is moved so that Hand_x = Hand_y = 0. Here, Hx and Hy are
Hand_x = (Slen1 × cos θA) + (Hd / 2) −BlkA_x
Hand_y = (Slen2 × cos θB) + (Hw / 2) −BlkB_y
Is calculated from Here, Slen1 is calculated from (S1 + S4) / 2 + (BAd / 2). Also, Slen2 = S2 + (BBd / 2).

  Further, the height origin Hand_z of the robot hand 4 shown in FIG. 14 is obtained. Hand_z is calculated by Hand_z = HBase + tan θt × Diffx. Here, Diffx = S5−HL + dh / 2 + Hbase is calculated. Hbase is the distance from the lower surface of the fourth reflector 54 to the midpoint of the slope 53A of the third reflector 53. HL is calculated by HL = (S1 + S4) / 2−dh / 2. Hand_z inserts parts into the substrate W without excess or deficiency even when the substrate W is moved upward when the belt of the conveyor device 2 is rubbed or when the substrate W is moved downward. In addition, it is used to detect the distance from the substrate W to the robot hand 4.

  As described above, in this embodiment, since the sensor for detecting the position of the robot hand 4 is placed on the substrate W, the configuration of the robot hand 4 can be simplified, downsized, and reduced in weight. . Since the position control of the robot hand 4 can be performed with high accuracy based on the outputs of the sensor blocks 31 and 32, the parts are assembled to the substrate W with high accuracy even in the articulated robot 3 with low position control accuracy. It becomes possible. If the robot hand 4 is reduced in size, it becomes possible to carry out fine work, handling of small parts, and mounting of parts in a narrow area. Further, compared to the case where a sensor is provided on the robot hand 4 side, the operation of the articulated robot 3 is less likely to be restricted. Furthermore, the cable of the robot hand 4 during teaching does not get in the way. Since the sensor blocks 31 and 32 are arranged on the substrate W, the sensor blocks 31 and 32 are hardly affected by the inclination and vibration of the conveyor device 2.

  In this embodiment, since the sensor blocks 31 and 33 are units that can be placed on the substrate W, the position of the robot hand 4 can be accurately adjusted even when the shape of the substrate W and the layout of parts on the substrate W are different. It can be controlled well. Furthermore, since it becomes possible to use the sensors 61 to 66 having a narrow measurement range but high measurement accuracy, the position of the robot hand 4 can be controlled with high accuracy.

  The correction data of the positions of the sensor blocks 31 and 33 may be calculated by processing an image obtained by photographing the substrate W. Further, the workpiece is not limited to the substrate W. The assembly target of the assembly apparatus 1 may be other electronic devices or electronic components. The parts are not limited to electronic parts, and may be modules in which several parts are combined.

  All examples and conditional expressions given here are intended to help the reader understand the inventions and concepts that have contributed to the promotion of technology, and such examples and It is to be construed without being limited to the conditions, and the organization of such examples in the specification is not related to showing the superiority or inferiority of the invention. While embodiments of the present invention have been described in detail, various changes, substitutions and variations can be made thereto without departing from the spirit and scope of the present invention.

The features of the above embodiment will be added below.
(Supplementary Note 1) A hand that can move by gripping a part to be placed on a work, a sensor block that is placed on the work and has a sensor that can detect the position of the hand, and the hand from the sensor block to the hand And a control device for controlling the position of the hand so that the distance to the head becomes a predetermined value.
(Supplementary Note 2) The sensor block is arranged at a position intersecting the first sensor block, a first sensor block that measures the position of the hand in the horizontal direction, the position of the hand in the vertical direction, and The work assembly apparatus according to claim 1, further comprising a second sensor block that measures a position of the hand.
(Supplementary Note 3) An alignment mark for detecting the position of the sensor block on the workpiece is provided on the upper surface of the sensor block, an imaging device for imaging the alignment mark is disposed, and the control device includes the imaging device The work assembly apparatus according to appendix 1 or appendix 2, wherein the position of the sensor block is corrected from the position of the alignment mark acquired in (1).
(Supplementary Note 4) The workpiece assembly apparatus according to any one of Supplementary Notes 1 to 3, wherein the sensor block includes three leg portions that contact the workpiece.
(Supplementary note 5) In any one of Supplementary notes 1 to 4, wherein the hand is provided with a reflector that reflects light output from the plurality of sensors of the plurality of sensor blocks. The workpiece assembly apparatus described.
(Appendix 6) A sensor block having a plurality of sensors is arranged on a workpiece, the position of a hand that grips a part to be placed on the workpiece is controlled using the sensor block, and the part is placed on the workpiece. A method of assembling a workpiece, wherein the sensor block is retracted from the workpiece after being placed at a predetermined position.
(Supplementary note 7) The method for assembling a workpiece according to supplementary note 6, wherein the two sensor blocks are arranged at positions where the optical axes of the sensors intersect.
(Appendix 8) The sensor of the appendix 5 or appendix 6, wherein the sensor of the sensor block detects the position of the hand by irradiating the hand with light and receiving the reflected light. Assembly method.

DESCRIPTION OF SYMBOLS 1 Assembly apparatus 2 Conveyor apparatus 3 Articulated robot 4 Robot hand 7 Control apparatus 31 1st sensor block 32 2nd sensor block 34 Leg part 51-55 Reflector 61-66 Sensor 69 Imaging device 71 Electronic component (parts)
W substrate

Claims (5)

A hand that can move by gripping the parts to be placed on the workpiece;
A sensor block placed on the workpiece and having a sensor capable of detecting the position of the hand;
A control device for controlling the position of the hand so that the distance from the sensor block to the hand becomes a predetermined value;
A workpiece assembling apparatus characterized by comprising:   The sensor block is arranged at a position intersecting the first sensor block, a first sensor block for measuring the position of the hand in the horizontal direction, the position of the hand in the vertical direction, and the position of the hand. The work assembly apparatus according to claim 1, further comprising a second sensor block for measuring.   An alignment mark for detecting the position of the sensor block on the workpiece is provided on the upper surface of the sensor block, an imaging device for imaging the alignment mark is disposed, and the control device acquires the alignment acquired by the imaging device. The work assembly apparatus according to claim 1, wherein the position of the sensor block is corrected from the position of the mark. A sensor block having a plurality of sensors is arranged on the moving workpiece,
Using the sensor block, controlling the position of a hand that holds a part to be placed on the workpiece,
A method for assembling a workpiece, wherein the sensor block is retracted from the workpiece after the parts are placed at a predetermined position on the workpiece.   The work assembly method according to claim 4, wherein the two sensor blocks are arranged at positions where optical axes of the sensors intersect.

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