AUTOMATIC PARTS ASSEMBLING METHOD AND DEVICE

摘要

The invention provides an automatic parts assembling method and device highly reliable and capable of high speed operation, wherein fitting and insertion of parts which requires axial and phase alignments is automatically effected. The method comprises a positioning and gripping step (sp1) for positioning a first part and gripping a second part, a pressing step (p2) for pressing the second part against the first part, an orbital path defining step (sp3) for defining the search-intended movement direction and amount of movement of the second part, for the purpose of axial alignment of the second and first parts, an own-axis rotation path defining step (sp4) for defining the amount of rotation of the second part around the search-intended fitting and insertion direction axis, for the purpose of phase alignment of the second and first parts, a fitting step (sp5) for simultaneously effecting axial and phase alignments by moving the second part as the latter is maintained pressed by the pressing step, on the basis of the amount of movement, direction of movement and amount of rotation defined in the orbital path defining step and own-axis rotation path defining step (sp4), and a insertion step (sp6) for moving the second part in the fitting direction with respect to the first part.