ASSEMBLING APPARATUS AND METHOD, AND ASSEMBLING OPERATION PROGRAM
In an assembling apparatus according to the present invention, a control portion controls an operation of a working portion such that a first reference position, which corresponds to a first reference point of an assembling component defined in three-dimensional model data of the assembling component, and a second reference position, which corresponds to a second reference point of the assembling component defined in three-dimensional model data of an assembled component, are associated with each other. Therefore, it is possible to carry out an assembling operation properly and efficiently irrespective of a positional shift of the assembled component.
1 . An assembling apparatus comprising:
a working portion for assembling a first component serving as an assembling component into a second component serving as an assembled component;
a recognizing portion for recognizing three-dimensional positions and postures of said first component and said second component; and
a control portion for controlling an operation of said working portion based on the recognition of the three-dimensional positions and the postures in said recognizing portion, wherein
said control portion controlling an operation of said working portion such that a first reference position and a second reference position are associated with each other, said first reference position being set to said first component in an actual space recognized by said recognizing portion as a corresponding position to a predetermined first reference point set to three-dimensional model data of said first component, said second reference position being set to said second component in the actual space recognized in said recognizing portion as a corresponding position to a predetermined second reference point set to three-dimensional model data of said second component, and
said second reference point serves to designate a place related to an assembly of said first component over the three-dimensional model data of said second component.
2 . The assembling apparatus according to claim 1 , wherein said first reference point serves as a reference when said working portion holds said first component.
3 . The assembling apparatus according to claim 1 , wherein said second reference point serves to correspond to a relative positional relationship between said second component and said first reference point in three-dimensional combined graphic data of said second component and said first component which indicates a state in which said first component is assembled into said second component.
4 . The assembling apparatus according to claim 1 , wherein said control portion controls an operation of said working portion so as to cause said reference position to be coincident with said second reference position.
5 . The assembling apparatus according to claim 1 , wherein said working portion has a third reference position for holding said first component, and
said control portion controls an operation for holding said first component through said working portion so as to cause said first reference position and said third reference position to be coincident with each other, and
controls the operation of said working portion so as to cause said first reference position of said first component to be coincident with said second reference position of said second component.
6 . The assembling apparatus according to claim 1 , wherein a dependent reference point which is dependent on said second reference point is further defined in the three-dimensional model data of said second component, and
said control portion controls the operation of said working portion so as to cause said first reference position to be coincident with a dependent position corresponding to said dependent reference point and to then cause said first reference position to be coincident with said second reference position.
7 . The assembling apparatus according to claim 6 , wherein information about said dependent reference point includes information about an operation designation for said first component till a movement from said dependent reference point to said second reference point.
8 . The assembling apparatus according to claim 1 , wherein information about said first reference point includes information about an approach angle of said working portion with respect to said first reference point in an execution of an operation for holding said first component through said working portion.
9 . The assembling apparatus according to claim 1 , wherein information about said second reference point includes information about an approach angle of said working portion with respect to said second reference point in an execution of an assembling operation of said first component through said working portion.
10 . The assembling apparatus according to claim 1 , wherein said first reference points are determined every first component and one of said first reference points is selected and set.
11 . The assembling apparatus according to claim 1 , wherein said second reference points are set every second component.
12 . The assembling apparatus according to claim 1 , wherein said second components are constituted by a combination of a plurality of components.
13 . The assembling apparatus according to claim 1 , further comprising a storage portion for storing the three-dimensional model data of said first component and said second component which are prepared in advance.
14 . An assembling method in an assembling apparatus comprising a working portion for assembling a first component to be an assembling component into a second component to be an assembled component, comprising the steps of:
(a) recognizing three-dimensional positions and postures of said first component and said second component; and
(b) controlling, based on the recognition of the three-dimensional positions and the postures in said step (a), an operation of said working portion such that a first reference position and a second reference position are associated with each other, said first reference position being set to said first component in an actual space which is recognized as a corresponding position to a predetermined first reference point set to three-dimensional model data of said first component, a second reference position set to said second component in the actual space which is recognized as a corresponding position to a predetermined second reference point se to three-dimensional model data of said second component,
wherein said second reference point serves to designate a place related to an assembly of said first component over the three-dimensional model data of said second component.
15 . An assembling operation program which is installed into a computer and is thus executed, thereby causing an apparatus for controlling said working portion by said computer to function as said assembling apparatus according to claim 1 .