| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an assembling device in which an accuracy of a moving operation of a member does not need to be especially improved, an insertion of a member having a protruding part into a recessed part is completed in a short period of time and a carried weight or a movable range of a robot arm is not limited. <P>SOLUTION: The assembling device is provided with: a robot arm 1 which grips and moves a part 101 having a recessed part or a part 102 having a protruding part, and inserts the protruding part of the parts 102 having the protruding part into a recessed part 103; a holding base 4 for holding the part 102 having the protruding part or the part 101 having the recessed part; and a passive mechanism 5 for supporting the holding base 4 so as to be movable in a direction orthogonal to an inserting direction and/or a rotating direction on an axis orthogonal to the inserting direction. When the robot arm 1 allows the protruding part into the recessed part 103, the passive mechanism 5 is displaced by a translational force in the inserting direction and/or a moment on the axis orthogonal thereto, which the member fixed to the holding base 4 receives, to insert the protruding part of the parts 102 having the protruding part into the recessed part 103. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
