US 12,304,019 B2
Fastening apparatus and fastening method
Takeshi Arimitsu, Tokyo (JP); and Yasutaka Ishizuka, Tokyo (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Feb. 27, 2024, as Appl. No. 18/588,057.
Claims priority of application No. 2023-057155 (JP), filed on Mar. 31, 2023.
Prior Publication US 2024/0326184 A1, Oct. 3, 2024
Int. Cl. B23P 19/10 (2006.01); B23P 19/06 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B23P 19/10 (2013.01) [B23P 19/06 (2013.01); B25J 9/1687 (2013.01); B25J 13/085 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A fastening apparatus that assembles an assembly component to an assembled component by fastening a fastening member, the fastening apparatus comprising:
an imaging device that captures, in a state where the assembly component having a first fastening hole is mounted on an upper portion of the assembled component having a second fastening hole, an image of a region including at least the first fastening hole;
a control device that calculates a first position of the first fastening hole and a second position of the second fastening hole based on the captured image; and
a robot,
wherein the robot places the assembly component on the assembled component,
the imaging device captures an image of the region including at least the first fastening hole of the assembly component in a state where the assembly component is placed on the assembled component, and the imaging device generates capture image data of the region including at least the first fastening hole,
the control device calculates the first position of the first fastening hole and the second position of the second fastening hole based on the generated capture image data, and
the control device controls the robot to cause the fastening member to be moved to and inserted into the first fastening hole based on the first position and to move the assembly component in a state where the fastening member is inserted in the first fastening hole in a direction of the second position, and controls the robot to fasten the fastening member in response to detection of the fastening member being inserted into the second fastening hole.