US 11,786,997 B2
Insertion quality determinator, insertion quality determining device, robot system, and method of determining insertion quality
Tadashi Shoji, Kobe (JP); Toshiyuki Suzuki, Kobe (JP); and Zhijiang Yue, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/800,231
Filed by Kawasaki Jukogyo Kabushiki Kaisha, Kobe (JP)
PCT Filed Feb. 17, 2021, PCT No. PCT/JP2021/005867
§ 371(c)(1), (2) Date Aug. 17, 2022,
PCT Pub. No. WO2021/166941, PCT Pub. Date Aug. 26, 2021.
Claims priority of application No. 2020-024770 (JP), filed on Feb. 17, 2020.
Prior Publication US 2023/0109560 A1, Apr. 6, 2023
Int. Cl. B23P 19/02 (2006.01); B23P 19/04 (2006.01); B25J 13/08 (2006.01)
CPC B23P 19/02 (2013.01) [B23P 19/04 (2013.01); B25J 13/088 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An insertion quality determinator that determines a quality of insertion of an insertion component inserted into a hole formed in a work object,
wherein the insertion component at least includes a head having the size that is impossible to be inserted into the hole, and a pillar-shaped body that extends from the head and has the thickness that is possible to be inserted into the hole, and
wherein the determinator determines the quality of insertion based on the position of a given part of the head of the insertion component inserted into the hole in a direction perpendicular to an extending direction of the hole,
wherein the determination of the quality of insertion is
a determination of the quality of insertion based on a dimensional distribution of the given part of the head of the insertion component inserted into the hole, in the direction perpendicular to the extending direction of the hole or
a determination of the quality of insertion based on a deviation of the position of the given part of the head of the insertion component inserted into the hole from a reference position in the direction perpendicular to the extending direction of the hole,
wherein the dimension of the given part is a dimension determined by two positions of the given part, and
wherein the reference position is a position of the given part acquired from desi n data of the insertion component or a position of the given part when seen in an extending direction of the body in a state where the insertion component is not inserted into the hole.