AUTOMATIC ASSEMBLY APPARATUS AND CONTROL METHOD THEREFOR

摘要

The present apparatus is equipped with: a linear drive means (3) for linearly driving a base section (6) along a direction for mating one member to another member; a rotational drive means (5) for rotationally driving the base section (6) around a central axial line (A0); a movable section (7) provided so as to be movable with respect to the base section (6) along the mating direction; a member-holding means (11) provided on the movable section (7) for holding one member so as to allow release; an elastic means (10) for applying an elastic force between the base section (6) and the movable section (7); a sensor means (13) for acquiring information on the change in distance between the base section (6) and the movable section (7); and a mating state-assessing means (2) for assessing the state of mating of the one member to the other member on the basis of the distance change information. With the present apparatus, it is possible to mate members, at least one of which has a non-circular cross-section, to each other without problems.