Method for mounting components by means of an industrial robot

摘要

The invention relates to a method for mounting a component, which comprises an insertion part and a holding part, in an opening in a workpiece by means of an industrial robot, which has an end effector, which guides the component on the holding part thereof. The method according to the invention is implemented by causing the insertion part of the component to approach the opening by moving the industrial robot; increasing the process forces by means of the industrial robot, once the insertion part of the component has made contact with the workpiece, until a process force threshold is reached, wherein the process forces are stored particularly in the form of material stresses; increasing the flexibility of the industrial robot when the process force threshold is reached; and executing a passive centering movement of the industrial robot based upon the process forces that are released by a relaxation of the material.

主权项

1. A method for mounting a component, which comprises an insertion part and a holding part, in an opening in a workpiece by means of an industrial robot, which has an end effector, which guides the component on the holding part, comprising the following steps:
causing the insertion part of the component to approach the opening by moving the industrial robot; increasing process forces by means of the industrial robot once the insertion part of the component has made contact with the workpiece, until a process force threshold is reached, wherein the process forces are particularly stored in the form of material stresses; increasing the flexibility of the industrial robot when the process force threshold is reached; and executing a passive centering movement of the industrial robot based upon the process forces that are released by a relaxation of the material.