JP6413489B2 - Component mounting method - Google Patents

Description

  The present invention relates to a component mounting method.

  Patent Document 1 describes an O-ring insertion method. In this method, first, the O-ring is adsorbed by a picking jig attached to the tip of the robot arm. Subsequently, the picking jig and the O-ring are arranged at initial predetermined positions on the rear lid and the guide post by moving the robot arm. At this time, the cylindrical portion of the guide post is inserted into the through hole of the picking jig. Subsequently, the adsorption of the O-ring is stopped. As a result, the O-ring falls freely and is caught by the taper of the guide post. Then, the O-ring is inserted into the rear lid by pushing down the O-ring with compressed air from the air blower.

Japanese Patent Laid-Open No. 10-180565

  In the method described in Patent Document 1, an O-ring is inserted into the rear lid without causing scratches, twists, or distortions by performing the above-described steps. However, in the method described in Patent Document 1, in addition to a normal robot arm, a picking jig (and a vacuum pump) for adsorbing the O-ring and a guide for guiding the O-ring to the rear lid A special configuration such as an air blower for jetting compressed air for pushing down the post or the O-ring along the guide post is required, and the versatility is low.

  This invention is made | formed in view of such a situation, and makes it a subject to provide the component mounting method which can mount | wear a mounted component reliably to a to-be-mounted thing, without impairing versatility.

  In order to solve the above-described problem, a component mounting method according to the present invention is a component for mounting a mounting component on an object to be mounted using an end effector having first and second finger portions and mounted on a robot arm. A mounting method, a first step of arranging the mounting component above the object to be mounted in a state where the mounting component is sandwiched between the first finger unit and the second finger unit, and after the first step, After the second step, by moving the end effector, the mounting component is lowered toward the mounting object, and a part of the mounting component is positioned below the tip of the mounting object. A third step of dropping the mounting component and mounting the mounting component on the mounted object by releasing the clamping of the mounting component, wherein the mounting component faces the first portion and the first portion. And a second portion extending to the first step. The mounting part is inclined so that the first part is sandwiched and the second part is positioned below the first part. In the second step, at least a part of the second part is provided. Is positioned below the tip of the mounted object.

  In this method, the mounting component is arranged above the mounted object in a state where the mounting component is held by the first finger portion and the second finger portion of the end effector attached to the robot arm. Process). At this time, the first part of the mounted component is clamped. At this time, the mounting component is tilted so that the second portion of the mounting component facing the first portion is positioned relatively downward.

  Subsequently, in this method, by moving the end effector, the mounted component is lowered toward the mounted object, and a part of the mounted component is positioned below the tip of the mounted object (second Process). At this time, at least a part of the second part of the mounted component is positioned below the tip of the mounted object. This step is possible because the mounting component is inclined in the first step so that the second portion of the mounting component is relatively downward. After that, by releasing the clamping of the mounted component, the mounted component is dropped and mounted on the mounted object (third step). At this time, in the second step, since at least a part of the second part of the mounted component is already positioned below the tip of the mounted object (that is, mounted on the mounted object). Therefore, the mounted component is securely mounted on the mounted object without deviating from the mounted object. As described above, according to this method, it is possible to reliably mount the mounting component on the mounted object by controlling the end effector without using a special configuration. Therefore, versatility is not impaired.

  In the component mounting method according to the present invention, the mounting component is an annular component, and the second finger portion has the first finger portion sandwiched between the first finger portion and the first finger portion. In the first step, the inclination is such that the contact surface with the first portion of the second finger portion is directed toward the inner side of the attachment as it goes upward. As such, the end effector may be tilted. In this case, when the mounted component is dropped in the third step, the contact surface of the second finger portion can function as a guide. Therefore, it is possible to more reliably mount the mounting component.

  In the component mounting method according to the present invention, in the third step, the holding of the mounted component may be released by moving the first finger portion while the second finger portion is fixed. In this case, in the state where the contact surface functioning as a guide is fixed, the clamping of the mounted component is released. For this reason, it is possible to drop the mounting component stably without applying vibration or the like to the mounting component.

  In the component mounting method according to the present invention, in the first step, the lower end of the contact surface may be aligned with the upper end of the side surface of the mounted object. In this case, when the mounting component falls, the mounting component is prevented from being caught between the upper end of the side surface of the mounted object and the lower end of the contact surface.

  In the component mounting method according to the present invention, in the second step, the reference plane in which the center of the second part in the direction intersecting the extending direction of the second part is set at the tip of the mounted object. It may be positioned lower than. In this way, if at least the center of the second part is below the reference plane of the tip of the mounted object, it is possible to sufficiently suppress the mounted component from escaping from the mounted object, and the mounted component is placed on the mounted object. It can be securely installed.

  ADVANTAGE OF THE INVENTION According to this invention, the component mounting method which can mount | wear a mounting component reliably to a to-be-mounted thing can be provided, without impairing versatility.

FIG. 1 is a schematic diagram showing a robot arm used in the component mounting method according to the present embodiment. FIG. 2 is a schematic diagram showing an end effector attached to the robot arm shown in FIG. FIG. 3 is a schematic diagram illustrating a state in which the mounting component is mounted on an object to be mounted. FIG. 4 is a diagram showing main steps of the component mounting method according to the present embodiment. FIG. 5 is a diagram showing main steps of the component mounting method according to the present embodiment. FIG. 6 is a diagram showing main steps of the component mounting method according to the present embodiment. FIG. 7 is a diagram showing main steps of the component mounting method according to the present embodiment. FIG. 8 is a diagram showing main steps of the component mounting method according to the present embodiment. FIG. 9 is a plan view showing a modified example of the mounted component. FIG. 10 is a schematic diagram showing a modification of the end effector. FIG. 11 is a schematic diagram showing a modification of the end effector. FIG. 12 is a cross-sectional view for explaining a modified example of setting the reference plane.

  Hereinafter, an embodiment of a component mounting method according to the present invention will be described in detail with reference to the drawings. In the description of the drawings, the same elements or corresponding elements are denoted by the same reference numerals, and redundant description is omitted.

  In the component mounting method according to this embodiment, an end effector attached to a robot arm is used as an example. FIG. 1 is a schematic diagram showing a robot arm used in the component mounting method according to the present embodiment. FIG. 2 is a schematic diagram showing an end effector attached to the robot arm shown in FIG. In particular, FIG. 2B is a cross-sectional view taken along the line IIb-IIb in FIG.

  As shown in FIGS. 1 and 2, the robot arm 1 includes a first arm portion 11, a second arm portion 12, and a support portion 13. An end effector 20 is attached to the distal end portion 11 a of the first arm portion 11. The 1st arm part 11 is connected to the front-end | tip part 12a of the 2nd arm part 12 in the base end part 11b. The first arm portion 11 is rotatable about a connection portion with the second arm portion 12 as a fulcrum.

  The 2nd arm part 12 is connected to the front-end | tip part 13a of the support part 13 in the base end part 12b. The second arm portion 12 is rotatable about a connection portion with the support portion 13 as a fulcrum. The distal end portion 13 a of the support portion 13 is rotatable in a direction different from the rotation directions of the first arm portion 11 and the second arm portion 12. As a result, the robot arm 1 moves the tip end portion 11a of the first arm portion 11 three-dimensionally under the control of the control portion 30 shown in FIG. 2, for example, and moves the end effector 20 to an arbitrary position. Can be moved.

  As an example, the end effector 20 includes a first finger portion 21, a second finger portion 22, and a palm portion 23. The first finger portion 21 has a taper shape that decreases from the proximal end portion 21b toward the distal end portion 21a. The first finger portion 21 is connected to the palm portion 23 at the proximal end portion 21b. The first finger portion 21 is rotatable about a connection portion with the palm portion 23 as a fulcrum.

  The second finger portion 22 has substantially the same shape as the first finger portion 21. That is, the second finger portion 22 has a taper shape that decreases from the proximal end portion 22b toward the distal end portion 22a. The second finger portion 22 is connected to the palm portion 23 at the proximal end portion 22b. The second finger portion 22 is rotatable about a connection portion with the palm portion 23 as a fulcrum. The cross-sectional shapes of the first finger portion 21 and the second finger portion 22 are substantially the same as each other, and as an example, an elliptical shape having a major axis G1 and a minor axis G2. However, the cross-sectional shape of the first finger portion 21 and the second finger portion 22 is not limited to an elliptical shape, and may be an arbitrary shape such as a circular shape.

  The palm unit 23 is connected to a control unit 30 that is shared with the robot arm 1, for example. The palm unit 23 drives (rotates) the first finger unit 21 and the second finger unit 22 under the control of the control unit 30. The control unit 30 is mainly configured by a computer including a CPU, a ROM, a RAM, and the like, for example. Each process in the component mounting method according to the present embodiment is performed by executing a predetermined program in the computer.

  In the component mounting method according to the present embodiment, the mounting component is mounted on the mounted object using the robot arm 1 and the end effector 20 (and the control unit 30) as described above. FIG. 3 is a schematic diagram illustrating a state in which the mounting component is mounted on an object to be mounted. 3A is a sectional view, and FIG. 3B is a plan view. As an example, here, the mounting component is an O-ring 40 (that is, an annular component), and the mounted object is a bolt 50. Furthermore, as an example, the bolt 50 is used as an electrode terminal of a battery cell such as a lithium ion secondary battery. The O-ring 40 is used for sealing and insulation between the battery cell lid and the bolt 50 as an example.

  The O-ring 40 includes a first portion 41, a second portion 42, and a pair of third portions 43. The 1st part 41, the 2nd part 42, and the 3rd part 43 are exhibiting circular arc shape. The second portion 42 extends so as to face the first portion 41. The third portion 43 connects the first portion 41 and the second portion 42 to each other. The bolt 50 includes a columnar shaft portion 51 and a hexagonal plate-shaped head portion 52. A male screw 51p is formed on a side surface (side surface of the attachment) 51s of the shaft portion 51.

  The inner diameter S40 of the O-ring 40 is slightly larger than the outer diameter S51 of the shaft portion 51 of the bolt 50. Further, the inner diameter S40 of the O-ring 40 is smaller than the dimension S52 of the head 52 of the bolt 50. Therefore, the O-ring 40 is passed through the shaft portion 51 and is fastened to the head portion 52. A clearance C is formed between the inner surface 40 s of the O-ring 40 and the side surface 51 s of the shaft portion 51. The dimension SC of the clearance C is smaller than the dimension of the short axis G2 of the first finger part 21 and the second finger part 22. Therefore, as will be described later, the O-ring 40 cannot be passed through the shaft portion 51 in a state where a part of the O-ring 40 is sandwiched between the first finger portion 21 and the second finger portion 22.

  Subsequently, a component mounting method according to the present embodiment will be described. 4-8 is a figure which shows the main processes of the component mounting method which concerns on this embodiment. FIG. 4B is a cross-sectional view taken along line IVb-IVb in FIG. As shown in FIG. 4, first, the O ring 40 is held by the end effector 20 by holding the O ring 40 between the first finger portion 21 and the second finger portion 22 at a predetermined initial position. (Step S101: First step).

  At this time, the first portion 41 of the O-ring 40 is sandwiched between the distal end portion 21 a of the first finger portion 21 and the distal end portion 22 a of the second finger portion 22. In other words, the first portion 41 is a sandwiching portion that is sandwiched between the first finger portion 21 and the second finger portion 22. Thus, in the state where the first portion 41 is sandwiched between the first finger portion 21 and the second finger portion 22, the second finger portion 22 is more second than the first finger portion 21. It is located on the portion 42 side. That is, the second finger portion 22 contacts the inner surface 40s of the O-ring 40 (in contrast, the first finger portion 21 contacts the outer surface of the O-ring 40). Note that a plurality of O-rings 40 are arranged at a predetermined initial position, for example.

  Subsequently, as shown in FIG. 5, in a state where the O-ring 40 is sandwiched between the first finger portion 21 and the second finger portion 22 by moving the end effector 20 by driving the robot arm 1. The O-ring 40 is disposed above the bolt 50 (shaft portion 51) (step S102: first step). At this time, the end effector 20 is moved so that the lower end of the contact surface 22s of the second finger portion 22 with the first portion 41 is aligned with the upper end of the side surface 51s of the bolt 50 (shaft portion 51). Let

  Here, in the direction intersecting the vertical direction, the lower end of the contact surface 22s and the upper end of the side surface 51s are substantially in the same position, or the lower end of the contact surface 22s is slightly smaller than the upper end of the side surface 51s. The end effector 20 is moved so as to be located outside. That is, here, it is desirable to move the end effector 20 so that the lower end of the contact surface 22s is not inside the bolt 50 from the upper end of the side surface 51s in the direction intersecting the vertical direction.

  As described above, the clearance C between the O-ring 40 and the shaft portion 51 is smaller than the dimension of the second finger portion 22 (see FIGS. 2 and 3). Therefore, even if the end effector 20 and the O-ring 40 are lowered as they are, the O-ring 40 cannot be passed through the shaft 51 by the second finger 22. Further, when the holding of the O-ring 40 is released in this state, the O-ring 40 may fall from the shaft portion 51 while falling, and the O-ring 40 may not pass through the shaft portion 51.

  Therefore, in the subsequent step, as shown in FIG. 6, the O-ring 40 is tilted by driving the robot arm 1 and tilting the end effector (step S103: first step). At this time, the O-ring 40 is inclined so that the second portion 42 is positioned below the first portion 41. In other words, the end effector 20 is inclined so that the contact surface 22s of the second finger portion 22 is inclined so as to be directed toward the inside of the bolt 50 as it goes upward.

  At this time, the inclination angle θ of the O-ring 40 is defined by an angle formed by a virtual reference surface BS1 including the upper surface 51h of the shaft portion 51 and a virtual reference surface BS2 including the extending direction of the O-ring 40. The The inclination angle θ is such that the dimension of the minor axis of the ellipse obtained by projecting the hole portion 40h of the inclined O-ring 40 onto the reference plane BS1 (the upper surface 51h of the shaft portion 51) is greater than the outer diameter S51 of the shaft portion 51. Is set to a larger range. In other words, the inclination angle θ is set so that the entire upper surface 51h of the shaft portion 51 is included in the hole portion 40h of the O-ring 40 when viewed from a direction orthogonal to the reference surface BS1. The reference surface BS1 is a surface including the upper surface 51h of the shaft portion 51 as described above, and is a surface virtually set on the tip portion 50a of the bolt 50.

  Subsequently, as shown in FIG. 7, the robot arm 1 is driven to move the end effector 20, thereby lowering the O-ring 40 toward the bolt 50 (shaft 51), and a part of the O-ring 40. Is positioned below the tip 50a of the bolt 50 (step S104: second step). At this time, at least a part of the second portion 42 is positioned below the tip 50a of the bolt 50. More specifically, in this step S <b> 104, the center 42 c of the second portion 42 in the direction intersecting (orthogonal) with the extending direction of the second portion 42 is a reference set at the tip 50 a of the bolt 50. It is located below the surface BS1. As a result, the O-ring 40 is partially passed through the bolt 50 (shaft 51).

  Subsequently, as shown in FIG. 8A, the holding of the O-ring 40 by the first finger portion 21 and the second finger portion 22 is released (step S105: third step). At this time, by moving (turning) the first finger portion 21 while the second finger portion 22 is fixed for a certain period of time, the distance between the tip portion 21a and the tip portion 22a is increased, and the O-ring 40 Release pinching. As a result, as shown in FIG. 8B, the O-ring 40 is dropped and passed through the shaft portion 51. Through the above steps, the O-ring 40 is attached to the bolt 50 as shown in FIG.

  As described above, in the component mounting method according to the present embodiment, the O-ring 40 is sandwiched between the first finger portion 21 and the second finger portion 22 of the end effector 20 attached to the robot arm 1. Hold (step S101). At this time, the first portion 41 of the O-ring 40 is sandwiched. Subsequently, the O-ring 40 is arranged above the bolt 50 (shaft portion 51) by moving the end effector 20 (step S102).

  On the other hand, by tilting the end effector 20, the O-ring 40 held by the end effector 20 is tilted (step S103). At this time, the O-ring 40 is inclined so that the second portion 42 facing the first portion 41 of the O-ring 40 is positioned relatively downward. These steps S101 to S103 may be performed simultaneously with each other, or may be performed separately according to an arbitrary order.

  Subsequently, in the component mounting method according to the present embodiment, by moving the end effector 20, the O-ring 40 is lowered toward the bolt 50, and a part of the O-ring 40 is moved more than the tip 50 a of the bolt 50. It is located below (step S104). At this time, at least a part of the second portion 42 of the O-ring 40 is positioned below the tip 50a of the bolt 50. This step is possible because in step S103, the O-ring 40 is inclined so that the second portion 42 of the O-ring 40 is relatively downward.

  Then, the O-ring 40 is released and the O-ring 40 is dropped and attached to the bolt 50 (step S105). At this time, in step S104, at least a part of the second portion 42 of the O-ring 40 is already positioned below the tip 50a of the bolt 50 (that is, it is attached to the bolt 50). ), The O-ring 40 is securely attached to the bolt 50 without deviating from the bolt 50. As described above, according to the component mounting method according to the present embodiment, the O-ring 40 can be securely mounted to the bolt 50 by controlling the end effector 20 (and the robot arm 1) without using a special configuration. it can. Therefore, versatility is not impaired.

  In the component mounting method according to the present embodiment, the second finger portion 22 of the end effector 20 is positioned closer to the second portion 42 than the first portion 41 when the O-ring 40 is sandwiched. . Then, in step S103, after step S102, the end effector 20 is tilted so that the contact surface 22s of the second finger portion 22 is tilted toward the inside of the bolt 50 as it goes upward. For this reason, when dropping O-ring 40 in process S105, it becomes possible to make contact surface 22s function as a guide. Therefore, the O-ring 40 can be attached more reliably.

  Further, in the component mounting method according to the present embodiment, the clamping of the O-ring 40 is released by moving the first finger portion 21 while the second finger portion 22 is fixed in step S104. Therefore, the holding of the O-ring 40 is released in a state where the contact surface 22s that functions as a guide is fixed. As a result, the O-ring 40 can be dropped stably without applying vibration or the like to the O-ring 40.

  In the component mounting method according to the present embodiment, in step S102, the end effector 20 is moved so that the lower end of the contact surface 22s is aligned with the upper end of the side surface 51s. For this reason, when the O-ring 40 falls, the O-ring 40 is restrained from being caught between the upper end of the side surface 51s and the lower end of the contact surface 22s.

  Furthermore, in the component mounting method according to the present embodiment, in step S104, the center 42c of the second portion 42 is positioned below the reference plane BS1 set at the tip 50a of the bolt 50. Thus, if at least the center 42c of the second portion 42 is below the reference plane BS1 of the tip 50a of the bolt 50, the O-ring 40 is sufficiently prevented from deviating from the bolt 50, and the O-ring 40 Can be securely attached to the bolt 50.

  The above embodiment describes one embodiment of the component mounting method according to the present invention. Therefore, the component mounting method according to the present invention is not limited to the above-described form. In the component mounting method according to the present invention, the above-described embodiment can be arbitrarily changed without changing the gist of each claim.

  For example, in the above embodiment, the annular component (O-ring 40) is exemplified as the mounting component. However, the mounting component used in the component mounting method according to the present invention is not limited to this. As shown in FIG. 9A, the mounting component may be a C-shaped mounting component 40A formed by removing a part of the ring. The mounting component 40 </ b> A includes a first portion 41, a second portion 42, and a third portion 43. As an example, in the mounting component 40 </ b> A, the first portion 41 is a sandwiching portion that is sandwiched between the first finger portion 21 and the second finger portion 22. The second portion 42 extends so as to face the first portion.

  Moreover, as a mounting component, as shown in FIG. 9B, a U-shaped mounting component 40B may be used. The mounting component 40 </ b> B includes a first portion 41, a second portion 42, and a third portion 43. The first portion 41 is, for example, a sandwiching portion that is sandwiched between the first finger portion 21 and the second finger portion 22 and extends linearly. The second portion 42 extends in a straight line substantially parallel to the first portion 41 so as to face the first portion 41. The third portion 43 extends in an arc shape and connects the first portion 41 and the second portion 42 to each other.

  Furthermore, as shown in FIG. 9C, the mounting component may be a mounting component 40C that is a rectangular annular component. The mounting component 40 </ b> C includes a first portion 41, a second portion 42, and a pair of third portions 43. The first portion 41 is a sandwiching portion that is sandwiched between the first finger portion 21 and the second finger portion 22 and extends linearly. The second portion 42 extends in a straight line substantially parallel to the first portion 41 so as to face the first portion 41. The pair of third portions 43 extend linearly in parallel with each other and connect the first portion 41 and the second portion 42 to each other.

  As described above, the mounting component used in the component mounting method according to the present invention is the clamping portion (for example, the first portion 41) that is sandwiched between the first finger portion 21 and the second finger portion 22 of the end effector 20. ) And a portion (for example, the second portion 42) extending so as to face the sandwiching portion. As described above, the present invention can be applied to various mounting parts, but in particular, in an annular part (for example, the O-ring 40 and the mounting part 40C described above) that surrounds the outer periphery of the mounted object, It is easy to apply without any restrictions on the orientation when it is installed.

  Here, in the above-described embodiment, the end effector 20 having the first finger portion 21 and the second finger portion 22 that can be turned around the connection portion with the palm portion 23 is used. However, the end effector 20 used in the component mounting method according to the present invention is not limited to this. For example, as shown in FIG. 10A, an end effector 20A can be used as the end effector. The end effector 20 </ b> A includes a first finger part 21, a second finger part 22, and a palm part 23.

  The first finger part 21 and the second finger part 22 have a straight bar shape. The first finger portion 21 is connected to the palm portion 23 at the proximal end portion 21b. The second finger portion 22 is connected to the palm portion 23 at the proximal end portion 22b. The first finger part 21 and the second finger part 22 are movable so that the relative position with respect to the palm part 23 can be changed while maintaining parallelism.

  As shown in FIG. 10B, an end effector 20B can be used as the end effector. The end effector 20B includes a first finger part 21, a second finger part 22, and a palm part 23. The first finger portion 21 is connected to the palm portion 23 at the proximal end portion 21b. The second finger portion 22 is connected to the palm portion 23 at the proximal end portion 22b.

  The first finger portion 21 includes a tip portion 21c including a distal end portion 21a and a root portion 21d including a proximal end portion 21b. The tip portion 21c is rotatable about a connection portion with the root portion 21d as a fulcrum. Further, the root portion 21d is rotatable with a connection portion with the palm portion 23 as a fulcrum. The second finger portion 22 includes a tip portion 22c including a distal end portion 22a and a root portion 22d including a proximal end portion 22b. The tip portion 22c is rotatable about a connection portion with the root portion 22d as a fulcrum. Further, the root portion 22d is rotatable with a connection portion with the palm portion 23 as a fulcrum. That is, the end effector 20 </ b> B has a multi-joint first finger portion 21 and a second finger portion 22.

  As shown in FIG. 11, a rotary gripper 20C can be used as the end effector. The rotating gripper 20 </ b> C includes a first finger part 21, a second finger part 22, and a palm part 23. The first finger portion 21 and the second finger portion 22 are rotated about the rotation shafts 21x and 22x provided on the base end portions 21b and 22b by the rotation of an actuator (not shown) to sandwich the object. The first finger portion 21 and the second finger portion 22 have a structure in which gears mesh with each other around the rotation shafts 21x and 22x. That is, the rotary gripper 20C specializes in the operation of holding and releasing the workpiece in an open / close manner, and the first finger portion 21 and the second finger portion 22 are moved independently with respect to the palm portion 23. I can't.

  Even when such a rotating gripper 20C is used, the palm part is moved by the amount of movement of the second finger part 22 by causing the first arm part 11 and the second arm part 12 of the robot arm 1 to cooperate. If the 23 is moved in the opposite direction, the second finger portion 22 can be fixed relative to the attachment object. Furthermore, as the end effector, a parallel gripper in which the first finger portion and the second finger portion approach and separate in synchronization can be used. Also in this case, the present invention can be applied by causing the first arm portion 11 and the second arm portion 12 to cooperate.

  Furthermore, the end effector is not limited to having two fingers, and may have any number of fingers of three or more. Note that the robot arm does not mean only the robot arm 1 as a single device as shown in FIG. 1, but may include, for example, the meaning of each arm of a dual-arm robot.

  In the above embodiment, the end effector 20 sandwiches the O-ring 40 and moves the O-ring 40 onto the bolt 50, and then tilts the O-ring 40. However, the present invention is not particularly limited to this procedure. As a stage before the O-ring 40 is lowered with respect to the bolt 50, the end effector 20 may be sandwiched with the O-ring 40 tilted and disposed above the bolt 50. For example, when the end effector 20 grips the O-ring 40, the O-ring 40 may be gripped in an inclined state and moved onto the bolt 50. Further, the O-ring 40 may be inclined while the end effector 20 moves on the bolt 50. Further, a supply device for the O-ring 40 may be separately prepared, and the end effector 20 may receive the O-ring 40 on the bolt 50.

  Here, in the above-described embodiment, the reference surface BS1 serving as a reference for the arrangement of the center 42c of the second portion 42 in step S104 is defined as a surface including the upper surface 51h of the shaft portion 51 (that is, the tip surface of the bolt 50). did. However, the reference surface BS1 can be appropriately set as another surface depending on the shape of the attachment. For example, as shown in FIG. 12, the shaft portion 51 of the attachment object may include a concave surface 51r that connects the side surface 51s and the upper surface 51h. In such a case, if the surface BS3 including the upper surface 51h of the shaft portion 51 is used as a reference for the arrangement of the center 42c of the second portion 42 in step S104, the following problem may occur.

  That is, in that case, even if the center 42c of the second portion 42 is disposed below the surface BS3 in the step S104, the second portion 42 is caught by the concave surface 51r (being caught). ) For this reason, when the shaft portion 51 has the concave surface 51r, the surface including the boundary between the side surface 51s and the concave surface 51r is set as the reference surface BS1 as a reference for the arrangement of the center 42c of the second portion 42. Good. In other words, the reference surface BS1 is a surface including a boundary between a part extending in the vertical direction with a certain dimension on the mounted object and a part including the tip surface of the mounted object and the dimension changing (reducing). You only have to set it.

  In addition, a to-be-attached object is not limited to what contains a shaft part and a head like a volt | bolt. The mounted portion can be any one having at least a columnar (rod-shaped) shaft portion.

  DESCRIPTION OF SYMBOLS 1 ... Robot arm, 11 ... 1st arm part, 12 ... 2nd arm part, 20, 20A, 20B ... End effector, 20C ... Rotary gripper (end effector), 22s ... Contact surface, 40 ... O-ring (mounting) Parts), 40A, 40B, 40C ... mounting parts, 41 ... first part, 42 ... second part, 42c ... center, 50 ... bolt (attachment), 51s ... side face, BS1 ... reference plane.

Claims (4)

A component mounting method for mounting a mounting component on an object to be mounted using an end effector having first and second fingers and attached to a robot arm,
A first step of disposing the mounting component above the object to be mounted in a state where the mounting component is sandwiched between the first finger unit and the second finger unit;
After the first step, by moving the end effector, the mounting component is lowered toward the mounting object, and a part of the mounting component is positioned below the tip of the mounting object. A second step of
After the second step, the third step of dropping the mounting component and mounting it on the mounted object by releasing the clamping of the mounting component;
With
The mounting component includes a first portion and a second portion extending to face the first portion,
In the first step, while sandwiching the first portion, the mounting component is inclined so that the second portion is positioned below the first portion,
In the second step, at least a part of the second portion is positioned below the tip of the attachment object,
The mounting part is an annular part,
The second finger part is positioned closer to the second part than the first finger part in a state where the first part is sandwiched between the second finger part and the first finger part,
In the first step, the end effector is inclined so that the contact surface with the first portion of the second finger portion is inclined toward the inner side of the attachment object as it goes upward. Let
Component mounting method. In the third step, the holding of the mounting component is released by moving the first finger while fixing the second finger.
The component mounting method according to claim 1 . In the first step, the lower end of the contact surface is aligned with the upper end of the side surface of the attachment object.
The component mounting method according to claim 1 or 2 . In the second step, the center of the second part in the direction intersecting the extending direction of the second part is positioned below the reference plane set at the tip of the attachment object. ,
The component mounting method according to any one of claims 1 to 3 .

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