JPH09106311A - Automatic correction device for teaching data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To operate a robot without performing teaching again even in the case of moving a jig by recognizing the present posture of the jig based on the detection value of a sensor and converting teaching data to data suited to the present posture. SOLUTION: A measuring hole is opened in a vertical direction so as to automatically recognize the posture of the jib after moving on the jig and the sensor composed of upper part sensors 26A-26D, lower part sensors 27A-27D and a bottom part sensor 28 is inserted to the measuring hole. A robot posture recognition part 36 recognizes the present posture of the jig based on the detection value of the sensor. Then, a teaching data conversion part 34 obtains deviation with the posture of the jig before the moving from the present posture of the jig recognized by the robot posture recognition part 36, prepares coordinate transformation data for compensating the deviation and corrects the teaching data used at the time of the play-back of the robot based on the coordinate transformation data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to teaching data capable of operating a robot without re-teaching work even when the robot is relocated or peripheral equipment of the robot is relocated. Of the automatic correction device.

[0002]

2. Description of the Related Art Conventionally, in a production factory, the scale of a production line may be changed according to changes in the status of product orders, but in this case, it is natural that the production line is installed on the production line. Relocation of existing robots, production machines, and jigs (jig posts) that convey products.

[0003]

Although this relocation is usually performed with consideration for accuracy so that the positional relationship between the robot and the jig is the same as that before the relocation, for example, the relocation is not performed. The accuracy is so low that it cannot be compared with the accuracy required for the robot. Therefore, the robot is usually re-instructed after the relocation.

Although the time required for this teaching work varies greatly depending on the number of relocated robots and the type of robot, it is generally at least a day unit until the teaching work is completed and the confirmation of its operation is completed. Will be needed.

The present invention has been made to reduce the teaching work involved in such relocation, and even when the jig is relocated, the robot can be operated without re-teaching. An object is to provide an automatic correction device for teaching data.

[0006]

The present invention for achieving the above object is configured as follows.

The invention according to claim 1 is based on a jig having a measurement hole for posture recognition, a sensor inserted into the measurement hole to detect the posture of the jig, and a detection value of the sensor. The posture recognition means for recognizing the current posture of the jig, and the teaching data of the robot for performing work on the work held by the jig, based on the current posture of the jig recognized by the posture recognition means, Teaching data converting means for converting into data adapted to the current posture of the jig.

As described above, by recognizing the current posture of the jig, the deviation from the posture of the jig at the time of teaching is clarified, and the current posture of the jig is corrected by adding the correction of the deviation amount to the teaching data. The data can be adapted to.
Therefore, new teaching work for the robot is not necessary.

According to a second aspect of the invention, the first aspect for tilt recognition is provided.
Of the first measuring instrument or the second measuring hole for rotation recognition and / or a jig having the second measuring hole for rotation recognition and the jig attached to the working end of the robot.
Sensor inserted into any of the measurement holes, the posture recognition means for recognizing the current posture of the jig based on the detection value of the sensor, and the robot for the work held in the jig before the transfer. Teaching data storage means for storing teaching data of work to be performed, and coordinate conversion data creating means for creating coordinate conversion data from the deviation between the current posture of the jig recognized by the posture recognizing means and the posture of the jig before relocation. And teaching data correction means for correcting the teaching data stored in the teaching data storage means by the coordinate transformation data created by the coordinate transformation data creating means.

If the jig is provided with either one or both of the first measuring hole for recognizing the degree of tilting in the vertical direction and the second measuring hole for recognizing the rotational deviation in the horizontal direction, these measuring holes are provided by the sensor. From this, it is possible to recognize the vertical inclination of the jig or the horizontal rotational deviation. By adding the correction of the deviation amount to the teaching data, it is possible to obtain the data which is adapted to the current posture of the jig. Therefore, new teaching work for the robot is not necessary.

According to a third aspect of the present invention, in the sensor, one end of a long supporting rod is attached to a working end of the robot,
A plurality of radial position measuring proximity sensors are radially attached to the working end side and the tip end side of the supporting rod around the supporting rod as an axial center, and further, a depth direction position measuring proximity sensor is attached to the tip end portion of the supporting rod. It is characterized by being attached.

According to this structure, when it is inserted into the measurement hole, the radial position of the measurement hole can be determined by the plurality of radial position measurement proximity sensors, and by the depth direction position measurement proximity sensor. The position in the depth direction can be determined. Therefore, the posture of the jig can be accurately grasped by these proximity sensors, and the teaching data suitable for the posture of the jig can be corrected.

According to a fourth aspect of the present invention, the posture recognizing means desires detection signals of the respective sensors based on signals from the plurality of radial position measuring proximity sensors and the depth direction position measuring proximity sensors. And a robot attitude recognition means for recognizing the attitude of the robot adjusted by the attitude control means.

With this configuration, the degree of deviation of the jig can be grasped by using the robot that works on the work held by the jig, so that the teaching data can be easily corrected. become able to.

According to a fifth aspect of the present invention, the proximity sensor for measuring the radial position is shifted in phase by about 90 ° about the support rod as an axial center, and four sensors are provided on the working end side and the tip end side of the support rod. It is characterized by being arranged one by one.

According to this structure, the distance from each proximity sensor to the inner peripheral surface of the measuring hole can be recognized in four directions for each of two points, the lower side and the upper side of the measuring hole. It becomes possible to insert the jig along the opening direction of the hole, and it becomes possible to accurately recognize the attitude of the jig.

According to a sixth aspect of the present invention, there is provided a jig having a laser beam output means for posture recognition, a sensor for receiving light from the laser beam output means to detect the posture of the jig, and From the posture recognition means for recognizing the current posture of the jig based on the detection position of the sensor and the current posture of the jig recognized by the posture recognition means, work is performed on the work held by the jig. Robot teaching data,
Teaching data converting means for converting into data adapted to the current posture of the jig.

Thus, by recognizing the current posture of the jig, the deviation from the posture of the jig at the time of teaching is clarified, and the current posture of the jig is corrected by adding the correction of the deviation amount to the teaching data. The data can be adapted to.
Therefore, new teaching work for the robot is not necessary.

According to a seventh aspect of the invention, the first aspect for tilt recognition is provided.
Attached to the working end of the robot and a jig equipped with laser light output means for outputting both or either one of the laser light or the second laser light for rotation recognition,
A sensor that receives the first laser beam or the second laser beam by changing the posture of the robot, and a posture recognition unit that recognizes the current posture of the jig based on the detection value of the sensor. , Teaching data storage means for storing teaching data of work performed by the robot on the work held in the jig before relocation, and the current posture of the jig recognized by the posture recognition means and the jig before relocation. Coordinate conversion data creating means for creating coordinate conversion data from the deviation from the posture, and teaching data for correcting the teaching data stored in the teaching data storage means by the coordinate conversion data created by the coordinate conversion data creating means. And a correction means.

The jig is provided with a first laser beam for tilt recognition,
Alternatively, if a laser light output means for outputting both or either of the second laser light for rotation recognition is provided,
It is possible to recognize the vertical inclination of the jig or the horizontal rotation deviation by the sensor. By adding the correction of the deviation amount to the teaching data, it is possible to obtain the data which is adapted to the current posture of the jig. Therefore, new teaching work for the robot is not necessary.

According to an eighth aspect of the invention, the laser light output means comprises one light emitting means and a beam splitter for separating the laser light from the light emitting means into a first laser light and a second laser light. It is characterized by being configured.

When the beam splitter is provided, two laser beams can be obtained by providing only one light emitting means.

According to a ninth aspect of the present invention, the posture recognizing means determines the cure depending on which position of the sensor receives the first laser beam and / or the second laser beam. This is characterized by recognizing the current posture of the tool. By doing so, it is possible to grasp the deviation of the jig by using the robot that operates on the work held by this jig. The data can be easily corrected.

The invention according to a tenth aspect is characterized in that the laser beam output means for posture recognition is detachably attached to the jig.

Therefore, this laser light output means can be attached to any jig, and it is not necessary to provide a dedicated jig.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an external view of a robot equipped with an automatic correction device for teaching data according to the present invention.

The robot 10 is taught so that desired work can be performed on the work held by the jig 12. The operation of the robot 10 during playback is controlled by the robot controller 20, which also functions as posture recognition means and teaching data conversion means.

A sensor 15 for recognizing the posture of the jig 12 after the relocation is attached to the working end of the robot 10. The sensor 15 is attached only when the correction data associated with the displacement of the jig 12 is created in the robot 10 immediately after the jig 12 is moved.
A work hand is attached. However, robot 1
If the 0 hand can grasp the sensor 15, this hand used during work may be used.

The jig 12 is provided with a measurement hole 17 for posture recognition in the vertical direction so that the posture of the jig 12 after being moved can be automatically recognized. The sensor 15 is the robot 1.
0 is inserted into this measurement hole 17, and the installation posture of the jig is recognized.

FIG. 2 shows a state in which the sensor 15 is inserted in the jig 12.

A long support rod 25 constituting a sensor 15 is attached to the working end 10A of the robot 10, and the working end of the supporting rod 25 is attached to the working end 10A as shown in FIG. 3 (A). Four proximity sensors 26A to 26D are mounted on the same plane with their phases shifted by 90 ° about the axis. Further, proximity sensors 27A to 27D are attached to the tip end side of the support rod 25 as shown in FIG. Further, at the tip of this support rod 25, the sensor 1
A proximity sensor 28 for detecting the insertion depth of No. 5 is attached.

The robot 10 adjusts its own posture so that the sensor 15 is located at the center of the measuring hole 17. By this operation, the posture of the jig 12 can be indirectly recognized. When this recognized posture is compared with the posture recognized by the same measurement operation before the jig 12 is moved,
It is possible to recognize the deviation amount of the posture before and after the jig is moved to 12. When correction is performed by adding this deviation amount to the teaching data, the jig 12
There is no need to perform teaching work after relocating.

Although the working end 10A is configured to rotate in FIG. 2, in the case of disposing a plurality of proximity sensors on the same plane as in the present embodiment, the measurement hole 17 is not formed. Since it is possible to place it in the center, it is sufficient to leave it fixed.

Further, in the jig having the measurement hole 17 opened in the vertical direction as shown in FIG. 1, the jig 1 after the transfer is compared with that before the transfer.
Although it is possible to recognize the degree of inclination of the posture of No. 2, it is not possible to recognize the amount of rotation when the jig rotates. Therefore, in the case of a jig in which this rotation adversely affects the work on the work, as shown in FIG. 4, the jig 12 having the second measurement hole 18 capable of recognizing this rotation amount is also opened. To use.

FIG. 5 is a block diagram showing a schematic configuration of a control system of the sensor 15, the robot 10 and the robot controller 20 shown in FIG.

Upper sensors 26A, 26C, upper sensor 2
6B, 26D, lower sensors 27A, 27C, lower sensors 27B, 27D, and bottom sensor 28 are sensor output value recognition units 30 provided in the robot controller 20.
The signals from these sensors are connected to this recognition unit 3.
Input to 0.

The teaching data storage unit 32 functions as teaching data storage means. Here, teaching data relating to the work performed by the robot 10 on the work held by the jig before the relocation, and the measurement data are measured. The teaching data regarding the insertion operation of the sensor 15 of the robot 10 when performing the work is stored.

The axis motors 40 are motors for driving the respective arms of the robot 10, and these motors are controlled by the operation controller 38.

The robot posture recognizing section 36 functions as posture recognizing means or robot posture recognizing means, and recognizes the posture of the robot 10 based on signals from encoders of the respective axis motors 40. And is a part that plays an important role in the present invention.

The teaching data converting unit 34 functions as a coordinate conversion data creating unit and a teaching data correcting unit, and the robot posture recognizing unit 36 indirectly recognizes the current posture of the jig 12 before the transfer. A deviation from the posture of the tool 12 is obtained, coordinate conversion data for compensating the deviation is created, and the robot 1 is based on the coordinate conversion data.
This is to correct the teaching data used during playback of 0.

The operation control unit 38 functions as a posture recognition unit or a posture control unit, and extracts teaching data of the measurement work for inserting the sensor 15 into the jig after the relocation from the teaching data storage unit 32 for measurement. Work is performed, and the posture of the robot 10 is delicately controlled so that the sensor 15 is located in the central portion of the measurement holes 17 and 18 based on the detection value of each sensor from the sensor output value recognition unit 30. Of course, at the time of playback, the operation of the robot 10 is controlled based on the teaching data converted by the teaching data converter 34.

Next, the operation of the automatic correction device of the present invention will be described with reference to FIG.
And it demonstrates in detail using the flowchart of FIG.

First, the operation control section 38 inserts the sensor 15 into the measurement hole 17 based on the teaching data regarding the measurement work stored in the teaching data storage section 32 (S1).
In the operation control unit 38, based on the signal of the bottom sensor 28 input via the sensor output value recognition unit 30, the sensor 1
Each axis motor 40 is controlled so that 5 is inserted into the measurement hole 17 at a predetermined depth. In the present embodiment, the bottom sensor 2
Since the proximity sensor is used for 8, the sensor is inserted until the output of this sensor is turned on. When a distance sensor is used as the bottom sensor 28, its insertion is controlled so as to have a depth taught in advance (S2 to S).
5).

When the sensor 15 is inserted to a desired depth, the operation control unit 38 maintains the depth and the lower sensor 27 which is input through the sensor output value recognition unit 30.
Based on the signals of A and 27C, the position of the sensor 15 is adjusted so that the output values of these two sensors are the same (S
6 to S9). Sensor 15 insertion depth and lower sensor 2
Positions of 7A and 27C (distance from inner surface of measurement hole 17)
Based on the signals of the lower sensors 27B and 27D input via the sensor output value recognition unit 30, the operation control unit 38 maintains the position of the sensor 15 so that the output values of these sensors are the same. Is adjusted (S10 to S1
3).

By the above operation, the lower sensors 27A to 27D can be positioned at the center of the measuring hole 17 while inserting the sensor to a desired depth. The lower sensors 27A to 27D are moved to the center of the measurement hole 17 only by moving the sensor 15 in parallel and not changing the insertion angle.

Further, while maintaining the insertion depth of the sensor 15 and the positions of the lower sensors 27A to 27D (distance from the inner surface of the measuring hole 17), the operation control section 38 causes the sensor output value recognizing section 30. Upper sensor 26A to be input,
The position of the sensor 15 is adjusted based on the signal of 26C so that the output values of these two sensors are the same (S14).
To S17). Similarly, the operation control unit 38 is input via the sensor output value recognition unit 30 while maintaining the insertion depth of the sensor 15 and the positions of the lower sensors 27A to 27D (distance from the inner surface of the measurement hole 17). Upper sensor 26B,
Based on the signal of 26D, the position of the sensor 15 is adjusted so that the output values of these two sensors are the same (S18).
~ S21).

By the above operation, the sensor 15 can be positioned at the center position of the measuring hole 17.

Next, the operation control section 38 performs an operation of inserting the sensor 15 into the measurement hole 18. At this time, the jig 12 may not be smoothly inserted into the measurement hole 18 unless the deviation of the jig 12 is taken into consideration. Therefore, the relative position between the measurement hole 17 and the measurement hole 18 stored in the teaching data storage unit 32 may be prevented. The position of the measurement hole 18 is searched based on the data indicating the value relationship, and the sensor 15 is inserted (S22).

Depth of insertion of sensor 15 and lower sensor 2
While maintaining the positions of 7A to 27D (distance from the inner surface of the measurement hole 17), the operation control unit 38, based on the signals of the upper sensors 26B, 26D input via the sensor output value recognition unit 30, The position of the sensor 15 is adjusted so that the output values of these two sensors are the same (S23 to S2).
6). The robot posture recognition unit 36 recognizes the posture of the robot based on a signal from the encoder of each axis motor 40, and the operation control unit 38 calculates the amount of deviation of the jig from the recognized posture and the posture at the time of teaching, Teaching data conversion unit 34
Is used as the original data of the coordinate conversion data (S27).

By the above processing, each measurement hole 1
7 and 18, the hand position and the hand direction of the robot 10 recognized by the robot posture recognition unit 36 are set to H'and D ', respectively, and similarly measured at the time of teaching the jig before relocation, and the teaching data storage unit If the hand position and hand direction of the robot 10 stored in 32 are H and D, respectively, coordinate conversion may be performed to make H and D coincide with H ′ and D ′. This coordinate conversion is performed by the teaching data conversion unit 34.

If coordinate transformation is X, teaching data in the jig before relocation is Ta, and data to be used when performing work in the jig after relocation is Ts, then Ts = XTa. . The teaching data conversion unit 34 performs this calculation during playback and outputs this data to the operation control unit 38.

Therefore, even if jigs or robots are relocated along with the relocation of the production line, or even if there is a concern that an error in accuracy over time may occur, the above-mentioned procedure is performed. The teaching data taught before the relocation can be used only by recognizing the relative position error between the jig and the robot, and it is not necessary to perform the teaching work each time the relocation or the like.

Next, another embodiment of the present invention will be described with reference to the drawings. In the first embodiment, the relative position between the jig and the robot can be corrected based on the measurement hole opened in the jig, but in this embodiment, the laser emitted from the projector attached to the jig is corrected. The relative position between the jig and the robot can be corrected based on the light.

FIG. 8 is an external view of a robot equipped with a teaching data automatic correction device according to the present invention.

The robot 10 is taught so that desired work can be performed on the work held by the jig 12. The operation of the robot 10 during playback is controlled by the robot controller 20, which also functions as posture recognition means and teaching data conversion means.

The jig 12 is a laser light output means capable of irradiating laser light in two directions, a vertical direction and a horizontal direction, so that the posture of the jig 12 after relocation can be automatically recognized. The light irradiation device 50 is attached. This laser light irradiation device 50 is firmly attached to a holding portion 52 formed in a part of the jig 12 as shown in FIG. As shown in the drawing on the right side of FIG. 9, a key groove 53 for preventing rotation is partially formed in the holding portion 52, and the laser light irradiation device 50 is firmly engaged with the holding portion 52.

Although only one hole is provided as the holding portion 52 in the figure, it is desirable to provide this hole at two positions in order to ensure stable mounting. Further, when the robot 10 performs a work with extremely high accuracy, the laser light irradiation device 50 is not detachably attached to the holding portion 52 but the laser light irradiation device 5 is used.
It is better that 0 is embedded in the jig 12.

As shown in FIG. 9, the laser light irradiation device 50 has a laser light source 5 such as a laser diode inside.
The laser light from the laser light source 54 is provided by the beam splitter 55 with a first laser light 56 for tilt detection, which is vertically irradiated, and a second laser light, which is horizontally irradiated, for rotation recognition. Laser beam 57 of

At the working end of the robot 10, the first and second laser beams 56, 5 from the laser beam irradiation device 50 are provided.
A light receiving sensor 60 for receiving 7 is provided, and a detection signal from the light receiving sensor 60 is processed by the sensor signal processing device 62, and is output to the robot controller 20 as information regarding the light receiving position of the light receiving sensor 60. The light receiving sensor 60 is a two-dimensional sensor that can detect laser light in a certain area, and is a two-dimensional CC.
A D sensor, a MOS sensor, a PSD sensor or the like is used.

The robot controller 20 recognizes the installation posture of the jig after the transfer from the difference between the light receiving position when the same operation is performed with the jig before the transfer and the light receiving position of the jig after the transfer, and the coordinates are recognized. Create conversion data.

FIG. 10 shows a specific mounting position of the light receiving sensor 60. The light receiving sensor 60 is attached to the working end 10A of the robot 10 as illustrated. Therefore, when performing the measurement process, the sensor 60 is positioned on the optical path of the first laser light 56 or the second laser light 57. The control of the operation of the robot 10 in this case is performed by the robot controller 20 based on previously taught data.

FIG. 11 shows the light receiving sensor 60 shown in FIG.
3 is a block diagram showing a schematic configuration of a control system of the robot 10 and a robot controller 20. FIG.

The light receiving sensor 60 is attached to the working end 10A of the robot 10 as shown in FIG. 10, and the first and second laser beams 56 from the laser beam irradiation device 50 attached to the jig 12. , 57 are received. The signal from the light receiving sensor 60 is output to the light receiving point recognition unit 63.

The light receiving point recognition unit 63 recognizes at which position of the light receiving sensor 60 the laser light is received, and this light receiving position serves as basic data for calculating the current posture of the jig 12. Is.

The teaching data storage unit 32 functions as teaching data storage means. Here, teaching data relating to the work performed by the robot 10 on the work held on the jig before the relocation, and the measurement data are measured. Teaching data relating to the set position of the light receiving sensor 60 when performing work is stored.

The axis motors 40 are motors that drive the respective arms of the robot 10, and these motors are controlled by the operation control section 38.

The operation control unit 38 includes the teaching data storage unit 32.
Each arm of the robot 10 is arranged such that the teaching data relating to the measurement work stored in is taken out and the light receiving sensor 60 is positioned in the optical path of the laser light from the laser light irradiation device 50 attached to the jig 12 after the relocation. To operate.

The conversion matrix calculating unit 64 functions as a coordinate conversion data creating means, and detects a laser beam receiving position measured before the jig is moved and a laser beam receiving position measured after the jig is moved. Based on the difference, the conversion matrix is calculated so that the teaching data when teaching is performed using the jig before the transfer can be used in the jig after the transfer.

The teaching data converting means 34 functions as teaching data correcting means, and corrects the teaching data by the conversion matrix calculated by the conversion matrix calculating section 64.

Next, the operation of the automatic correction device according to the embodiment of the present invention will be described in detail with reference to the flowchart of FIG.

As a premise for performing the processing of this flowchart, the same operation as that described below is performed for the jig before the relocation, and the attitude of this jig is stored in the teaching data storage unit 32. I shall. Then, it is assumed that the data relating to the trajectory required when the robot 10 is played back is performed using this jig.

When performing this measurement work, the laser light irradiation device 50 is attached to the holding portion 52 of the jig 12. With this, the laser light irradiation device 50 is fixed because the positional relationship with the jig 12 is unique. The laser light irradiation device 50 outputs a first laser light 56 in the vertical direction and a second laser light 57 orthogonal to the first laser light 56 in the horizontal direction.

First, when the mode for performing the measurement work is set, the operation control unit 38 takes out the data stored in the teaching data storage unit 32 and sets the working end 10A of the robot 10 at the taught position S1. To do. This position S
1 is a point where the first laser beam 56 is taught to hit the center of the light receiving sensor 60 when the same operation is performed with the jig before the relocation (S50).

The light receiving point recognition section 63 recognizes the light receiving point S1 'of the first laser beam 56 of the light receiving sensor 60 and stores this position (S51).

Next, the operation control section 38 takes out the data stored in the teaching data storage section 32, and the robot 1
The work end 10A of 0 is set to the position S2 taught as a position different from the position of S1 of the previous time. This position S1 is the same as that of the first laser beam 5 when the same jig is used before the relocation.
6 is a point taught to hit the center of the light receiving sensor 60 (S52).

The light receiving point recognition section 63 recognizes the light receiving point S2 'of the first laser beam 56 of the light receiving sensor 60 and stores this position (S53).

Further, the operation control section 38 takes out the data stored in the teaching data storage section 32, and the robot 1
The working end 0A of 0 is set at the taught position S3. This position S3 is the same as the jig before relocation,
This is a point where the second laser beam 57 is taught so as to strike the center of the light receiving sensor 60 (S54).

The light receiving point recognition section 63 recognizes the light receiving point S3 'of the second laser beam 57 of the light receiving sensor 60 and stores this position (S55).

Next, the operation control unit 38 takes out the data stored in the teaching data storage unit 32, and the robot 1
The work end 10A of 0 is set to the position S4 which is taught as a position different from the position of the previous S3. This position S4 is the second laser beam 5 when the same operation is performed with the jig before relocation.
7 is a point taught to hit the center of the light receiving sensor 60 (S56).

The light receiving point recognition section 63 recognizes the light receiving point S4 'of the second laser beam 57 of the light receiving sensor 60 and stores this position (S57).

By the above operation, it is possible to know the light receiving positions of the first and second laser beams 56 and 57 at the points S1 to S4. In the present embodiment, a conversion matrix for correcting the teaching data is obtained from the four-point robot coordinates.

Next, in the conversion matrix calculation unit 64, the positional deviation of the jig after the transfer from the laser light receiving positions S1 'to S2' at the points S1 to S4 which are the first taught points is shown. Find the transformation matrix.

To obtain this, the following calculation is performed. Note that the following processing was performed on the jig before the relocation.

First, a coordinate system is defined as shown in FIG. Here, Xh, Yh, and Zh are the coordinate system of the hand. Further, Xs, Ys and Zs are coordinate systems of the light receiving sensor.

If the light receiving position of the laser light recognized by the light receiving point recognition unit 63 is (xs, ys) and the laser light receiving point in the coordinate system of the light receiving sensor is ^s S1, then ^s S
It can be expressed as 1 = (xs, ys, 0).

Letting XS be the conversion matrix for converting this point into the coordinate system of the hand, the laser receiving point ^h S1 in the coordinate system of the hand can be expressed as ^h S1 = XS · ^s S1.

Further, when the conversion matrix for converting the coordinate system of the hand into the coordinate system of the robot is XH, the laser receiving point ^R S1 in the coordinate system of the robot is shown.
Can be expressed as ^R S1 = XH · ^h S1.

By performing the conversion as described above, as shown in FIG. 14, ^R S1 to ^R S4 at each point of S1 to S4 are obtained. That is, the light receiving position (coordinates) in the sensor coordinate system is set to the light receiving position (coordinates) in the robot coordinate system.
Is converted into.

^R S1 and ^R S2 thus obtained
A straight line L passing through both points and a plane P including the point of ^R S3 and orthogonal to the straight line L are calculated, and the intersection of the calculated straight line L and the plane P is set as the origin ^R C of the coordinate system of the robot.

[0090] unit vector perpendicular from the origin ^R C Cz unit vector to the first laser beam 56 direction, the unit vector from the origin ^R C to the second laser beam 57 direction Cx, this Cz and Cx Calculate Cy.

The above is the above S51, S53, S
The steps S1 'to S4' obtained in steps 55 and S57 are also performed to calculate the origin ^R C'and the unit vectors C'x, C'z, C'y as shown in FIG.

Next, the origin ^R C and unit vectors Cx, Cz, Cy obtained by the jig before the relocation and the origin ^R C ', unit vectors C'x, C'z, C obtained by the jig after the relocation 'Y and origin ^R C, unit vector Cx, Cz, Cy origin ^R
A coordinate transformation matrix XD for coordinate transformation into C'and unit vectors C'x, C'z, C'y is obtained (S58).

In the teaching data converter 34, the conversion matrix XD obtained by the conversion matrix calculator 64
The corrected teaching point is calculated by using the
Output to

The correction teaching point is calculated as follows. Assuming that the teaching data stored in the teaching data storage unit 32 is Ts, the teaching data T adapted to the jig after the relocation is set.
s'can be obtained by Ts' = XD.Ts.

The corrected teaching data is stored in the operation control unit 38.
If the robot 10 or the jig is moved, the teaching does not need to be performed and the time from the moving work to the operation of the production line can be considerably shortened. become.

In the above-described embodiment, the case where the person attaches the laser light irradiation device 50 to the jig or permanently attaches the laser light irradiation device 50 to the jig 12 has been exemplified. It is also possible for the robot 10 to attach the laser beam irradiation device 50 to a jig and perform the measurement operation on the condition that the setting has been made.

Although two forms of correction of teaching data when a jig is relocated have been described, it is needless to say that this correction needs to be made for each jig.

[0098]

As described above, according to the present invention, the following effects are obtained for each claim. According to the first aspect of the present invention, the present posture of the jig can be recognized based on the detection value of the sensor, and the teaching data of the robot can be converted from the present posture into data adapted to the present posture of the jig. So
No new teaching work for the robot is required.

According to the second aspect of the present invention, the jig is provided with either one or both of the first measurement hole for recognizing the degree of tilt in the vertical direction and the second measurement hole for recognizing the rotational deviation in the horizontal direction. Since it is provided, it is possible to recognize the vertical tilt of the jig or the horizontal rotation deviation from these measurement holes by the sensor, and add the correction of this deviation to the teaching data to determine the current position of the jig. It can be matched data. Therefore, new teaching work for the robot is not necessary.

According to the third aspect of the present invention, the sensor has one end of a long support rod attached to the working end of the robot, and the support rod is attached to the working end side and the tip end side of the supporting rod. Since a plurality of radial direction position measurement proximity sensors are radially attached as the center, and further, a depth direction position measurement proximity sensor is attached to the tip of the support rod, it is configured to have a plurality of diameters when inserted into the measurement hole. The directional position measuring proximity sensor can determine the position of the measurement hole in the radial direction, and the depth direction position measuring proximity sensor can determine the position in the depth direction. Therefore,
By these proximity sensors, the posture of the jig can be accurately grasped, and the teaching data suitable for the posture of the jig can be corrected.

According to the invention described in claim 4, the posture recognition means detects the detection signals of the respective sensors based on the signals from the plurality of radial position measuring proximity sensors and the depth direction position measuring proximity sensors. It is held by this jig because it is composed of a posture control means for adjusting the posture of the robot so that a desired value is obtained and a robot posture recognition means for recognizing the posture of the robot adjusted by the posture control means. By using a robot that works on the work, the degree of deviation of the jig can be grasped, and the teaching data can be easily corrected.

According to the invention as set forth in claim 5, the radial position measuring proximity sensor is shifted in phase by about 90 ° about the support rod as an axial center, and is arranged on the working end side and the tip end side of the support rod, respectively. Since it is configured by arranging four sensors, the distance from each proximity sensor to the inner peripheral surface of the measurement hole can be recognized in four directions for each of two points, the lower side and the upper side of the measurement hole. It becomes possible to insert the jig along the opening direction, and the posture of the jig can be accurately recognized.

According to the sixth aspect of the present invention, the present posture of the jig is recognized based on the detected position of the light from the laser light output means, and the teaching data of the robot is obtained from this present posture. Since the data can be converted into data adapted to the current posture of the robot, new teaching work for the robot is unnecessary.

According to the invention described in claim 7, the jig is provided with a first laser beam for tilt recognition or a second laser beam for rotation recognition.
Since the laser light output means for outputting both or any one of the laser light is provided, it is possible to recognize the tilting degree of the jig in the vertical direction or the rotational deviation in the horizontal direction by the sensor. By adding the correction of the deviation amount to the teaching data, the data can be made to be suitable for the current posture of the jig, and therefore, a new teaching work for the robot is unnecessary.

According to the invention described in claim 8, the laser light output means for recognizing the current posture of the jig according to the light receiving position of the sensor includes one light emitting means and one light emitting means. Since it is composed of a beam splitter for separating the laser light of the first laser light into the first laser light and the second laser light, it is possible to provide the first laser light for tilt recognition or the rotation recognition for rotation recognition by providing only one light emitting means. Second
Two laser lights of the laser light of are obtained.

According to the ninth aspect of the present invention, the posture recognizing means determines whether the first laser beam or the second laser beam or both of them are received by the position of the sensor. Since the current posture of the jig is recognized, the deviation of the jig can be grasped by using the robot that works on the work held by the jig, and the teaching data can be easily corrected. Will be able to.

According to the tenth aspect of the present invention, since the laser beam output means for posture recognition is configured to be attachable to and detachable from the jig, the laser beam output means can be attached to any jig. , There is no need to provide a dedicated jig.

[Brief description of the drawings]

FIG. 1 is an external view of a robot provided with an automatic correction device for teaching data according to the present invention.

FIG. 2 is a view showing a state in which a sensor 15 is inserted in a jig 12.

3 (A) and 3 (B) are diagrams showing a disposition state of proximity sensors.

FIG. 4 is a cross-sectional view of a jig 12 provided with a second measurement hole 18 so as to detect a rotation amount as well.

5 is a block diagram showing a schematic configuration of a control system of a sensor 15, a robot 10 and a robot controller 20 shown in FIG.

6 is an operation flowchart of the control system shown in FIG.

7 is an operation flowchart of the control system shown in FIG.

FIG. 8 is an external view of a robot including a teaching data automatic correction device according to another embodiment of the present invention.

FIG. 9 is a view showing how the laser light irradiation device 50 is attached.

FIG. 10 is a diagram showing a mounting position of a sensor.

11 is a block diagram showing a schematic configuration of a control system of the sensor 60, the robot 10 and the robot controller 20 shown in FIG.

12 is an operation flowchart of the control system shown in FIG.

FIG. 13 is a diagram for explaining the flowchart of FIG.

FIG. 14 is a diagram provided for explaining the flowchart of FIG.

[Explanation of symbols]

10 ... Robot, 10A ... Working end, 12 ... Jig (jig post), 15 ... Sensor, 17, 18 ... Measuring hole,
20 ... Robot controller, 25 ... Support rod, 26A-
26D ... upper sensor, 27A to 27D ... lower sensor, 2
8 ... Bottom sensor, 50 ... Laser light irradiation device, 52 ...
Holding part, 53 ... Key groove, 54 ... Laser light source, 55
... Beam splitters, 56, 57 ... First laser light, second laser light, 60 ... Sensor.

[Procedure amendment]

[Submission date] December 18, 1995

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG.

[Fig. 2]

[Figure 3]

FIG. 4

[Figure 5]

FIG. 10

FIG. 6

FIG. 7

[Figure 8]

FIG. 9

FIG. 11

FIG. 13

FIG. 14

FIG.

Claims (10)

[Claims] 1. A jig (12) having a measurement hole (17, 18) for posture recognition, and the measurement hole (1) for detecting the posture of the jig (12).
Sensor (15) to be inserted into the jig (1) based on the detection value of the sensor (15).
The posture recognizing means (20) for recognizing the current posture of 2), and the jig (1) recognized by the posture recognizing means (20).
Teaching that converts teaching data of the robot (10) that performs work on the work held by the jig (12) from the current posture of 2) into data that matches the current posture of the jig (12). An automatic correction device for teaching data, comprising: a data conversion means (20). 2. A jig (12) having a first measuring hole (17) for tilt recognition and / or a second measuring hole (18) for rotation recognition, and a robot (10). Attached to the working end (10A) of
The sensor (1) inserted into either the first or second measurement hole (17, 18) by the robot (10).
5), the posture recognition means (36, 38) for recognizing the current posture of the jig based on the detection value of the sensor (15), and the work for holding the jig (12) before the transfer. Teaching data storage means (32) for storing teaching data of work performed by the robot (10), current posture of the jig (12) recognized by the posture recognizing means (36, 38), and jig before relocation ( 12) coordinate conversion data creating means (34) for creating coordinate conversion data from the deviation from the posture, and the coordinate conversion data created by the coordinate conversion data creating means (34), by the teaching data storage means (3).
2) A teaching data automatic correction device, comprising: teaching data correcting means (34) for correcting the teaching data stored in 2). 3. The sensor (15) is connected to the robot (1).
0) is attached to the working end (10A) of one end of a long support rod (25), and the support rod (25) has a plurality of diameters with the support rod (25) as an axial center on the working end side and the tip end side, respectively. Proximity sensor for directional position measurement (26A-26D, 27A-
27D) are attached radially, and further, the support rod (2
Proximity sensor (28) for depth direction position measurement at the tip of 5)
3. The automatic correction device for teaching data according to claim 2, further comprising: 4. The posture recognizing means (36, 38) comprises proximity sensors (26A-26D,
27A to 27D) and the attitude control means for adjusting the attitude of the robot (10) based on the signals from the proximity sensor (28) for position measurement in the depth direction so that the detection signals of the respective sensors have desired values. 4. The teaching data automatic correction apparatus according to claim 3, further comprising: a robot posture recognition unit that recognizes the posture of the robot (10) adjusted by the posture control unit. 5. A proximity sensor (26A) for measuring the radial position.
26D, 27A to 27D), the phases of which are shifted by about 90 ° about the support rod (25) as an axis center, and four are arranged on the working end side and the tip end side of the support rod (25). An automatic correction device for teaching data according to claim 3 or 4, wherein: 6. A laser light output means (50) for posture recognition.
(12) provided with a sensor, a sensor (60) for receiving light from the laser light output means (50) to detect the posture of the jig (12), and a detection position of the sensor (60). Based on the jig (1
The posture recognizing means (20) for recognizing the current posture of 2), and the jig (1) recognized by the posture recognizing means (20).
Teaching that converts teaching data of the robot (10) that performs work on the work held by the jig (12) from the current posture of 2) into data that matches the current posture of the jig (12). An automatic correction device for teaching data, comprising: a data conversion means (20). 7. A first laser beam (56) for tilt recognition,
Alternatively, laser light output means (5) for outputting both or either of the second laser light (57) for rotation recognition.
0) provided with a jig (12) and a working end of the robot (10), and by changing the posture of the robot (10), the first
Laser light (56) or the second laser light (5)
7) The sensor (60) which receives the light, and the jig (1) based on the detection value of the sensor (60).
The posture recognizing means (63) for recognizing the current posture of 2) and the teaching data storing means (for storing the teaching data of the work performed by the robot (10) for the work held by the jig (12) before the relocation ( 32) and the jig (1 recognized by the posture recognition means (63).
2) Coordinate conversion data creating means (64) for creating coordinate conversion data from the deviation between the current attitude and the attitude of the jig (12) before relocation, and the coordinates created by the coordinate conversion data creating means (64). The teaching data storage means (3
2) A teaching data automatic correction device, comprising: teaching data correcting means (34) for correcting the teaching data stored in 2). 8. The laser light output means (50) includes one light emitting means (54) and a laser light from the light emitting means (54) as a first laser light (56) and a second laser light (54). The automatic correction device for teaching data according to claim 7, characterized in that it comprises a beam splitter (55) splitting into 57). 9. The posture recognizing means (63) receives the first laser beam (56) and / or the second laser beam (57) at any position of the sensor (60). 8. The automatic correction device for teaching data according to claim 7, wherein the present posture of the jig (12) is recognized depending on whether or not it has been done. 10. The laser beam output means (50) for posture recognition is configured to be detachable from the jig (12). An automatic correction device for teaching data described in 1.