| 摘要 |
PROBLEM TO BE SOLVED: To provide an assembling method and device for completing insertion of a shaft part 102 into a hole in a short time without the necessity of especially improving accuracy of a moving operation of a member and preventing the moving of the shaft part 102 in a pressed state on a hole part 101. SOLUTION: In this assembling method, either one of the hole part 101 or the shaft part 102 is held, a moving operation of either one is performed, and the shaft part 102 is inserted into the hole 103. When a distal end part of the shaft part 102 abuts on a surrounding part of the hole 103 when the shaft part 102 is inserted into the hole 103, translational force of the inserting direction received by the hole part 101 and moment around a shaft orthogonal to the translational force are detected. A calculation based on the detected translational force and moment is performed, and direction and distance from a center of the hole 103 at an abutting position of the distal end part of the shaft part 102 are calculated. By performing the moving operation of either one of the hole part 101 or shaft part 102 according to the calculated direction and distance, the shaft part 102 is inserted into the hole 103. COPYRIGHT: (C)2008,JPO&INPIT
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