초록 ▼

The component assembling method uses a reference table 4 having at least two planes which are a first reference plane 5 and a second reference plane 6 different in the direction of normal line from each other, and a robot system for grasping and moving each component to a given position on the refer

The component assembling method uses a reference table 4 having at least two planes which are a first reference plane 5 and a second reference plane 6 different in the direction of normal line from each other, and a robot system for grasping and moving each component to a given position on the reference table 4. The method in question includes at least a first step of pushing the component as grasped by the robot system against the first reference plane 5, changing the posture of the robot system to let the component lie along the first reference plane 5, and storing or fixing the said change in posture of the robot system, and a second step, subsequent to the first step, of pushing the component as grasped by the robot system against the second reference plane 6, changing the posture of the robot system to let the component lie along the second reference plane 6, and storing or fixing the said change in posture of the robot system.

대표청구항 ▼

[ What is claimed is:] [1.] A component assembling method using:a reference table having at least two planes which are first and second reference planes of different in the direction of normal line from each other; anda robot system for grasping and moving a component to a given position on said ref

[ What is claimed is:] [1.] A component assembling method using:a reference table having at least two planes which are first and second reference planes of different in the direction of normal line from each other; anda robot system for grasping and moving a component to a given position on said reference table,said method including at least:a first step of pushing the component as grasped by said robot system against said first reference plane, changing the posture of the robot system to let the component lie along the first reference plane, and storing or fixing said change in posture of the robot system; anda second step, subsequent to said first step, of pushing the component as grasped by said robot system against said second reference plane, changing the posture of the robot system to let the component lie along the second reference plane, and storing or fixing said change in posture of the robot system,wherein the position of the component relative to said reference table is determined by correcting the posture of the component in accordance with the changes in posture stored in said first and second steps or by fixing the posture of the component in the first step and that in the second step successively.