JP2010218174A - Apparatus and method for automatically correcting tip position of tool in automatic device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus and method for automatically correcting a deviance of a tip position of a tool, which is caused by secular changes of component parts, and so forth, in an automatic device. <P>SOLUTION: The automatic device includes: a contact part 10 having a contact surface 10a to which the tip of the tool contacts; a supporting unit 30 which supports the contact part so that the contact part is movable along one axial direction; and a displacement measuring means 40 which measures a displacement of contact position of the tip of the tool in the contact surface along one direction caused by secular changes or replacement, while positioning the supporting unit to the contact position. The automatic device obtains a displacement amount along Z-axis by calculating a difference of displacements of the tip of the tool which are measured before and after secular changes or replacement. The automatic device also calculates displacement amounts along X-axis and Y-axis directions which are orthogonal to the Z-axis direction in an orthogonal coordinate system by utilizing the displacement amount along Z-axis direction and a difference of displacements of contact positions of the tip of the tool on an inclined plane having a predetermined angle of gradient to a plane which is formed on the contact surface and has the Z-axis direction as its normal line before and after secular changes or replacement. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic correction apparatus and an automatic correction method for a tool tip position in an automatic apparatus including consumable parts that require periodic replacement, such as a soldering iron and a drill.

  In recent years, with the miniaturization of products manufactured by automatic devices and the increase in the density of mounted parts, advanced skills are required for product assembly work. In manual work, the quality of a product to be assembled depends on the ability of the worker, so that the assembly line of the product is being automated in accordance with the demand. However, a subtle change may occur in the automatic device itself due to the aging of the components of the automatic device, which may lead to a reduction in the quality of products assembled through the automatic device. In order to prevent such a situation, maintenance of an automatic apparatus must be carefully performed, and a great deal of labor is required. As a result, there is an increasing demand for automatic devices that can flexibly cope with the aging of such devices.

  More specifically, in an automatic device using a robot, for example, a drill, a soldering iron, etc., which are the tips of the operation of the automatic device are worn by use, and the nozzle of the dispenser is clogged. To do. In this case, it is possible to cope with the problem by exchanging the tool. However, the position of the tip is shifted, and it is necessary to redo the teaching of the robot every time it is exchanged. This teaching work is very laborious and burdens the operator. Conventionally, for example, a position correction device such as that described in Patent Document 1 is used to automatically correct the position by obtaining the amount of eccentricity between the robot axis and the tool tip.

JP 2006-198636 A

  According to the position correction method using the conventional position correction apparatus described above, for example, when the tool is a soldering iron, the soldering operation is performed by attaching the soldering iron to the robot arm. In addition, it is necessary to provide a XYZ triaxial sensor in the tip position detection device, which increases the cost.

  Furthermore, when a three-axis sensor of XYZ is provided, there is a problem that it is difficult to reduce the size of the tip position detecting device.

  The purpose of the present invention is to perform the maintenance work such as the aging of the component parts and the accompanying manual teaching work at the time of parts replacement by correcting the position of the tool tip due to the aging of the component parts and the tool replacement. The present invention provides an automatic correction device and automatic correction method for a tool tip position in an automatic device, which can be reduced in size and cost by reducing the number of sensors of the deviation amount detection device required for the reduction.

In order to solve the above-described problem, an automatic correction device for a tool tip position in an automatic device according to claim 1 of the present invention is provided.
An automatic correction device for the tool tip position in an automatic device that corrects the tip position of the tool that requires aging and replacement due to use,
A contact portion having a contact surface with which the tool tip comes into contact;
A support portion that supports the contact portion so that the contact portion can move in a uniaxial direction;
A displacement amount measuring means for measuring, as a displacement amount in one direction of the contact portion, a position at which the tool tip contacts the contact surface in a state where the support portion is positioned at a contact position;
The difference between displacements measured before and after the tool tip aging and before and after the change is used as the amount of displacement in the Z-axis direction of the Cartesian coordinate system, and the further contact position, that is, the amount of displacement in the Z-axis direction and the contact surface Is perpendicular to the Z-axis direction from the secular change when the tool tip comes into contact with a plane formed in the Z-axis direction as a normal line and an inclined surface having a predetermined inclination angle and the displacement amount of the contact part before and after replacement. A deviation amount calculating means for calculating a deviation amount due to secular change or replacement of the tool tip with respect to the X axis direction and the Y axis direction of the orthogonal coordinate system;
Output means for outputting the calculated deviation amounts.

Moreover, the automatic correction method of the tool tip position in the automatic device according to claim 3 of the present invention includes:
An automatic correction method for the tool tip position in an automatic device that corrects the tool tip position that requires aging and replacement due to use,
Preparing a contact portion having a contact surface with which the tool tip comes in contact and a support portion for supporting the contact portion so that the contact portion can move in a uniaxial direction;
Measure the position where the tool tip is in contact with the contact surface in a state where the support portion is positioned at the contact position as a displacement amount in one direction of the contact portion,
The difference between displacements measured before and after the tool tip aging and before and after the change is used as a displacement amount in the Z-axis direction of the orthogonal coordinate system, and is a further contact position, the displacement amount in the Z-axis direction and the contact surface. Is perpendicular to the Z-axis direction from the secular change when the tool tip comes into contact with a flat surface formed in the Z-axis direction and a slope having a predetermined inclination angle and the difference in displacement of the contact part before and after replacement Calculating a deviation amount due to aging and replacement of the tool tip with respect to the X-axis direction and the Y-axis direction of the orthogonal coordinate system,
The calculated deviation amounts are output.

  By calculating the position deviation due to wear or replacement of the tool tip as a deviation amount from the reference position based on the measurement data from the deviation amount calculating means, the position correction of the tool tip can be automatically performed. This eliminates the need for re-teaching by the operator when replacing a tool that changes with age due to use or reflecting the amount of deviation from the reference position of the tool tip in the robot teaching content. This helps to improve the quality of products assembled by robots.

  Further, since the displacement amount measuring means provided in the displacement amount calculating means only needs to detect the displacement amount of the tool in one direction (Z-axis direction), the automatic displacement correction device for the tool tip position can be used as a single displacement amount measuring means. Just prepare. Therefore, it is possible to solve the conventional problem, that is, the provision of the XYZ triaxial sensor in the tip position detection device increases the cost and makes it difficult to reduce the size. Can do.

An automatic correction device for a tool tip position in an automatic device according to claim 2 of the present invention is the automatic correction device for a tool tip position according to claim 1,
The deviation amount in the X-axis direction and the Y-axis direction calculated by the deviation amount calculation means is calculated using a rotation axis provided in the robot, and the reference of the tip of the tool is calculated using the rotation axis. It is characterized in that an amount of deviation from the position in the X-axis direction and the Y-axis direction is calculated.

An automatic correction method for a tool tip position in an automatic device according to claim 4 of the present invention is the automatic correction method for a tool tip position in an automatic device according to claim 3,
The deviation amount in the X-axis direction and the Y-axis direction calculated by the deviation amount calculation means is calculated using a rotation axis provided in the robot, and the reference of the tip of the tool is calculated using the rotation axis. It is characterized in that an amount of deviation from the position in the X-axis direction and the Y-axis direction is calculated.

  By using the rotation axis of the robot, it is not necessary to separately provide a special slope on the contact surface of the contact portion in the X-axis direction and the Y-axis direction, and the tool tip position can be corrected with a simple configuration.

  According to the present invention, it is possible to reduce the time-related change of component parts and the maintenance work at the time of component replacement by correcting the positional deviation of the tool tip due to aging of component parts and tool replacement, etc. It is possible to provide an automatic correction device and an automatic correction method for a tool tip position in an automatic device, which can be reduced in size and cost by reducing the number of sensors of the deviation amount detection device.

It is a perspective view which shows roughly the automatic correction apparatus of the tool front-end | tip position in the automatic apparatus which concerns on this invention. It is a schematic block diagram of the automatic correction apparatus of the tool front-end | tip position shown in FIG. It is a basic flowchart for demonstrating the automatic correction method of the tool front-end | tip position using the automatic correction apparatus of the tool front-end | tip position shown in FIG. It is explanatory drawing explaining the automatic correction method of the tool front-end | tip position using the automatic correction apparatus of the tool front-end | tip position shown in FIG. FIG. 5 is an explanatory diagram for explaining a tool tip position automatic correction method by the tool tip position automatic correction device following FIG. 4. It is a perspective view which shows roughly the 1st modification of the automatic correction apparatus of the tool front-end | tip position shown in FIG. It is a perspective view which shows roughly the 2nd modification of the automatic correction apparatus of the tool front-end | tip position shown in FIG. It is a perspective view which shows an example of the specific form of the automatic correction apparatus of the tool front-end | tip position in the automatic apparatus which concerns on this invention. It is a perspective view which shows an example of the automatic correction | amendment apparatus of the tool front-end | tip position in the automatic apparatus included in the category of this invention different from FIG. It is a perspective view of the automatic correction apparatus of the tool front-end | tip position which concerns on Example 1 corresponding to one Embodiment of this invention. 11 is a reference position measurement flowchart of a tool automatic correction method using the tool tip position automatic correction device according to the first embodiment shown in FIG. It is explanatory drawing explaining the automatic correction method of the tool front-end | tip position by the automatic correction | amendment apparatus of the tool front-end | tip position shown in FIG. FIG. 11 is a position measurement flowchart after tool replacement and deterioration in a tool automatic correction method using the tool tip position automatic correction apparatus according to the first embodiment shown in FIG. 10. It is explanatory drawing corresponding to explanatory drawing of FIG. 12, and is explanatory drawing which shows the automatic correction method of the tool front-end | tip position after deterioration of a tool or after exchanging a tool. It is explanatory drawing which shows the automatic correction method of the tool front-end | tip position which calculates the correction amount of a tool front-end | tip position from the measurement result of FIG.12 and FIG.14. It is a perspective view of the automatic correction apparatus of the tool front-end | tip position which concerns on Example 2 corresponding to one Embodiment of this invention. It is a perspective view which shows the state which rotated the table of the automatic correction apparatus of the tool front-end | tip position shown in FIG. 16 90 degrees around the Z-axis. FIG. 17 is a reference position measurement flowchart of the tool tip position automatic correction method in the tool tip position automatic correction apparatus according to the second embodiment shown in FIG. 16; FIG. 17 is a position measurement flowchart after tool replacement and deterioration of an automatic tool tip position correction method in the tool tip position automatic correction device according to the second embodiment shown in FIG. 16; It is a perspective view of the automatic correction apparatus of the tool front-end | tip position which concerns on Example 3 corresponding to one Embodiment of this invention. It is a perspective view which shows the slope formation state of the automatic correction apparatus of the tool front-end | tip position shown in FIG. It is a perspective view which shows the state which rotated the table of the automatic correction apparatus of the tool front-end | tip position shown in FIG. 21 90 degrees around the Z-axis. FIG. 21 is a reference position measurement flowchart of the tool tip position automatic correction method in the tool tip position automatic correction apparatus according to the third embodiment shown in FIG. 20. FIG. 21 is a position measurement flowchart after tool replacement and deterioration of the tool automatic correction method in the tool tip position automatic correction apparatus according to the third embodiment shown in FIG. 20. It is a schematic block diagram of the automatic correction apparatus of the tool tip position in Example 4. In Example 4, the Z-direction measuring surface structurally connected to the robot hand via the elastic body moves toward the tip tool (FIG. 26A), and the tool tip contacts the contact surface ( FIG. 26 (b)) is a diagram showing a state (FIG. 26 (c)) in which contact is detected by a tool contact detection means including a micro SW, photoelectric switch, proximity SW, and the like via an elastic body. FIG. 26 is a reference position measurement flowchart of the tool tip position automatic correction method in the tool tip position automatic correction apparatus according to the fourth embodiment shown in FIG. 25. FIG. 26 is a position measurement flowchart after tool replacement and deterioration in the tool tip position automatic correction method in the tool tip position automatic correction apparatus according to the fourth embodiment shown in FIG. 25;

  Hereinafter, an automatic correction device and an automatic correction method for a tool tip position in an automatic device according to an embodiment of the present invention and modifications thereof will be described with reference to the drawings.

  The automatic device according to the present embodiment includes an automatic correction device for correcting the tool tip position, and as shown in FIGS. 1 and 2, a tool that is an object in the X-axis, Y-axis, and Z-axis directions as an orthogonal coordinate system. A contact mechanism (a vertical articulated robot, a scalar robot, a linear motion robot, etc.) that contacts the tip from the X-axis, Y-axis, or Z-axis direction acts to measure the displacement of the tool tip in the Z-axis direction. Thus, not only the deviation amount of the tool tip in the Z-axis direction but also the deviation amounts in the X-axis direction and the Y-axis direction are calculated.

  As shown in FIG. 1, an automatic correction device for a tool tip position in an automatic device according to an embodiment of the present invention is a local working part of a tool (a tool tip position, which is a tool tip portion 50a shown in FIG. A table (contact portion) 10 having a tool contact surface 10a on the upper surface, a contact mechanism 20 that moves the table 10 to a predetermined reference position and contacts the tool tip, and the contact mechanism 20 and the table 10 And a support 30 for supporting the table 10 so as to be always movable in a uniaxial (Z-axis) direction with respect to the contact mechanism 20 via an elastic body such as a spring, and the tool contact surface 10a in the tool moving direction. Based on the output of the single displacement meter 40 (see FIG. 2) for detecting the contact position and the single displacement meter 40, the positional deviation of the working portion of the tool is calculated for each of the X axis, the Y axis, and the Z axis. To do It has an automatic correction device 100.

  For example, a tool indicated by a soldering iron 50 in FIG. 8, a dispenser, a drill, or the like is applied to the tool. Moreover, the tool front-end | tip part 50a is generally located in the lower end of the tool 50, as shown in FIG.

  Although the contact mechanism 20 is schematically shown in FIG. 1, it is actually composed of a vertical articulated robot, a scalar robot, a linear motion robot, or the like, and the contact surface and the tool tip are orthogonally coordinated by these contact mechanisms. The X-axis, Y-axis, and Z-axis directions forming the system are brought into contact with each other.

  The contact mechanism 20 normally serves as a working robot, places a workpiece on the tip, positions the workpiece on the tip of a tool such as a soldering iron provided at a predetermined station of the automatic device, and passes the tool through the tip of the tool. A predetermined operation is performed.

  The displacement meter 40 described above is installed on the end surface of the support 30. The displacement meter 40 plays a role of measuring how much the tool contact surface 10a of the table 10 is pushed by the tool tip and displaced in the Z-axis direction from the reference position when the support 30 is in a predetermined position. In addition, although the displacement meter using a magnetoresistive element etc. is used for the displacement meter 40, if it can measure the displacement itself mentioned above, it does not necessarily need to be limited to such a displacement meter.

  The tool contact surface 10a includes a first inclined portion 11 for measuring a deviation amount in the X-axis direction and a deviation amount in the Y-axis direction in addition to the tool contact surface which is a plane for measuring the deviation amount in the Z-axis direction. A second inclined portion 12 for measurement is provided. The measurement slope 11a (hereinafter referred to as “slope portion 11a”) of the first slope portion 11 and the tool contact surface 10a form an angle α, and the measurement slope 12a (hereinafter referred to as “slope surface 12a”) of the second slope portion 12. An angle β is formed between the “slope portion 12a” and the tool contact surface 10a. Further, the normal lines of the slope portion 11a of the first slope portion 11 and the slope portion 12a of the second slope portion 12 are orthogonal to each other.

  As shown in FIG. 2, the position automatic correction device 100 is interposed between the displacement meter 40 and the robot teaching device, and includes a displacement meter measurement value acquisition unit 101, a Z-axis deviation amount calculation unit 102, an X-axis, Y axis deviation amount calculation means 103, X, Y, and Z axis deviation amount output means 104, and tool tip portion contact detection means 105 are provided. The tool automatic correction method is basically performed according to the following routine as shown in FIG.

  First, the robot is moved to the measurement position in the Z-axis direction, the tool tip is brought into contact with the tool contact surface 10a (step S11), and the measurement value of the displacement meter 40 is acquired (step S12). Next, the amount of deviation in the reference position and the Z-axis direction is calculated from the measured value of the displacement meter 40 (step S13). Similarly, the deviation amount between the X axis and the Y axis is calculated from the displacement amount (steps S14 to S19). A method of calculating the deviation amount of the X axis and the Y axis will be described later in detail. Next, the calculated deviation amount is transferred to the robot teaching device (step S20). Next, the teaching device corrects the teaching position of the tool tip position on the data (without the operator actually re-teaching) according to the transferred deviation amount (step S21).

  4 and 5 show the principle of converting the measured value in the Z-axis direction of the displacement meter 40 into the position (displacement amount) after displacement of the tool tip in the X, Y, and Z-axis directions. With respect to the Z-axis direction, the difference a between the measured value of the displacement meter 40 in which the tool tip 50a is in contact with the tool contact surface 10a and the Z-axis direction reference position is the true shift amount ΔZ in the Z direction. This is obtained in step S13 described above.

  The true deviation amount calculation of the tool tip in the X-axis and Y-axis directions in steps S14 to S19 described above is performed as follows. First, from the difference between the measured value of the displacement meter 40 in which the tool tip is in contact with the inclined surface portion 11a of the first inclined portion 11 for detecting the amount of deviation in the X-axis direction and the reference position in the X-axis direction, apparently in the Z-axis direction. The amount of deviation b is calculated. Here, out of the apparent amount of deviation b in the Z-axis direction, the amount of deviation ΔXz related to the true amount of deviation ΔX in the X-axis direction is b−a excluding the amount of deviation ΔZ = a in the Z-direction. The true deviation amount ΔX in the X-axis direction is a value obtained by dividing the deviation amount ba in the Z-axis direction related to the true deviation amount in the X-axis direction by the tangent value (tan α) of the angle α, that is, ΔX. = (B−a) / tan α. Note that α is an inclination angle of the inclined surface portion 11a for detecting the shift amount in the X-axis direction with respect to the tool contact surface 10a as described above.

  Further, from the difference between the measured value of the displacement meter 40 in which the tool tip is in contact with the inclined surface portion 12a of the second inclined portion 12 for detecting the amount of deviation in the Y-axis direction and the reference position in the Y-axis direction, apparently in the Z-axis direction. The shift amount c is calculated. Here, out of the apparent shift amount c in the Z-axis direction, the shift amount ΔYz related to the true shift amount ΔY in the Y-axis direction is c−a excluding the shift amount ΔZ = a in the Z direction. The true deviation amount ΔY in the Y-axis direction is a value obtained by dividing the deviation amount c−a in the Z-axis direction related to the true deviation amount in the Y-axis direction by the tangent value (tan β) of the angle β, that is, ΔY. = (C−a) / tan α. Note that the angle β is an inclination angle with respect to the tool contact surface 10a of the inclined surface portion 12a for detecting the shift amount in the Y-axis direction as described above.

  If the position where the contact surface and the tool tip are in contact with each other is defined as a predetermined position of the contact mechanism, the true deviation amount ΔX in the X direction as a correction value and the Y-axis direction as a correction value from the tool wear and the difference before and after replacement The true deviation amount ΔY is calculated.

  Then, each deviation amount ΔX, ΔY, ΔZ is transferred to a contact mechanism teaching device such as a robot. Then, in the teaching device, the teaching position is corrected according to the true shift amount. This correction only needs to change the initial teaching data, and the operator does not actually re-teach. This corresponds to step S21 and step S22 described above.

  In this way, it is necessary to measure the true tool tip position when the tool tip position shifts due to secular change like a drill, or it is necessary to replace the tool periodically like a soldering iron or dispenser If there is a tool tip, measure the true tool tip position or the correct tip position of the new tool after replacement, and incorporate the information on these tip positions into the teaching data that was used when the tool was first mounted. Make corrections. As a result, even if the tool tip position shifts due to secular change or a tool that requires periodic replacement work is replaced, it is necessary to teach (teaching) again according to the deviation of the tool tip from the initial position. This eliminates the need for maintenance work for correcting the amount of displacement of the tip position associated with tool wear or tool replacement that has been performed by a conventional person.

  FIG. 6 is a perspective view schematically showing a first modification of the tool tip position automatic correcting apparatus shown in FIG. FIG. 7 is a perspective view schematically showing a second modification of the tool tip position automatic correcting apparatus shown in FIG.

  6 is an automatic correction device for a tool tip position having a configuration corresponding to Example 2 described later, and FIG. 7 is an automatic correction device for a tool tip position having a configuration corresponding to Example 3 described later. .

  The tool tip position automatic correction device shown in FIG. 6 substitutes rotation around the Z-axis (see arrow Zr in the figure) via a mechanism provided in a contact device such as the R-axis of the robot, so that the inclined portion on the table is simply used. The structure is simplified by using only one inclined portion.

  In addition to the rotation mechanism around the Z axis shown in FIG. 6, the automatic correction device for the tool tip position shown in FIG. 7 tilts the table 110 itself through the rotation of the rotation shaft 116 (see arrow p in the figure). The slope for measuring the amount of deviation in the X-axis and Y-axis directions is formed.

  Next, a more specific aspect of the automatic correction device for the tool tip position in the automatic device according to the present embodiment will be described with reference to FIG. This specific aspect will be described as an embodiment of an automatic soldering device.

  When the contact mechanism 20 has a rotation axis as in the polar coordinate system robot shown in FIG. 8, the deviation amounts of the Z axis, the X axis, and the Y axis are calculated based on the measured value of the displacement meter 40 and the rotation speed of the rotation axis. Here, when the contact mechanism has Zr and the contact surface has one of the rotation axes Xr and Yr, the measured value is measured at the tip of the tool while reducing the measurement slope by using the rotation axis. It can be converted into a true shift amount ΔX in the X-axis direction and a true shift amount ΔY in the Y-axis direction. This can be understood from the fact that the table 10 shown in FIG.

  That is, the tool contact surface is installed at the measurement end of the displacement meter, and requires a flat surface for measuring in the Z-axis direction and one inclined surface for measuring in the X-axis and Y-axis directions, as shown in FIG. Since the contact mechanism has Zr, that is, a mechanism that rotates around the normal of the tool contact surface, or the measurement surface has a rotation axis of either Xr or Yr, the rotation axis can be used efficiently, and the tool contact surface It is possible to reduce the measuring slope installed on the top.

  Specifically, in the tool tip position automatic correction apparatus shown in FIG. 8, the work to be soldered is transported by the scalar robot 21 and soldered at a soldering station 25 installed in the housing. A displacement meter 41 is installed at the robot tip 21 a, and the table 10 is installed at the measurement end of the displacement meter 41. In this case, the tool contact surface 10a on the upper surface of the table also serves as a work installation surface. Since the tool contact surface 10a has an RX axis rotation mechanism, it also serves as the tool inclined surface 10b in combination with the RZ axis of the scalar robot 21.

  When the tip of the iron tip is displaced due to wear of the soldering iron or replacement of the iron tip, the positions in the X-axis, Y-axis, and Z-axis directions are measured by the method shown in FIGS. After subtracting the true displacement amount ΔZ in the Z-axis direction from the apparent displacement amount ΔXz in the Z-axis direction including the true displacement amount ΔZ in the axial direction and the true displacement amount in the X-axis direction, the displacement amount measurement in the X-axis direction is performed. The true deviation amount ΔX in the X-axis direction is obtained by dividing by the tangent value of the inclination angle of the tool contact surface at the regular time. Further, after subtracting the true shift amount ΔZ in the Z-axis direction from the apparent shift amount ΔYz in the Z-axis direction including the true shift amount ΔZ in the Z-axis direction and the true shift amount in the Y-axis direction, The true deviation amount ΔY in the Y-axis direction is obtained by dividing by the tangent value of the inclination angle of the tool contact surface when measuring the deviation amount in the direction. Here, when there are a plurality of tools, after obtaining the correction value of each tool, the correction value of the tool used in each work is reflected in the teaching position.

  As another embodiment, the present invention may be applied to a dispensing robot using a three-axis robot using a direct acting robot 22 as shown in FIG. When such a dispensing robot is used, the nozzle tip position of the dispenser 52 (position of the nozzle tip 52a in the figure) changes due to nozzle replacement due to nozzle clogging or bending, etc. Is required. However, according to the present invention, the displacement tip 42 having the flat surface and the inclined surface described above at the measurement end is installed in the housing 29, and the nozzle tip 52a is brought into contact with the displacement meter 42, whereby the nozzle tip position after replacement is changed. Can be measured.

  As described above, the present invention is not limited to a soldering iron, a dispenser, and a drill, but can be applied to position measurement of any tool tip and correction of the displacement. As the contact mechanism 20, various robots such as a vertical articulated robot, a scalar robot, and a direct acting robot can be applied. The contact mechanism 20 may move the tool itself as shown in FIGS. 8 and 9 or may move the table itself that forms the tool tip contact surface on the upper surface.

  The displacement detection principle of the displacement meter 40 installed on the end face of the contact mechanism may be either a contact type or a non-contact type.

  Hereinafter, more specific modes of the tool automatic correction device and the tool tip position automatic correction method in the automatic device based on the above-described embodiment and its modifications will be described as Example 1 to Example 3.

  First, Example 1 will be described. FIG. 10 is a perspective view of the tool automatic correction device in the automatic device according to the first embodiment of the present invention. FIG. 11 is a reference position measurement flowchart of the tool automatic correction method in the automatic apparatus according to the first embodiment shown in FIG. FIG. 12 is an explanatory diagram for explaining a method for automatically correcting the tool tip position by the tool automatic correcting apparatus shown in FIG. FIG. 13 is a position measurement flowchart after tool replacement and deterioration in the tool automatic correction method in the automatic apparatus according to the first embodiment shown in FIG. FIG. 14 is an explanatory view corresponding to the explanatory view of FIG. 12, and is an explanatory view showing a method for automatically correcting the tool tip position after the tool is deteriorated or after the tool is replaced. FIG. 15 is an explanatory diagram showing a method for calculating the tool tip position correction amount from the measurement results of FIGS. 11 and 12.

  As shown in FIG. 10, the automatic correction device for the tool tip position according to the first embodiment includes a table (contact part) 110 having a tool contact surface 110 a on the upper surface that contacts a working local part (tool tip position) of the tool. The table 110 is moved between a contact mechanism 120 that moves the table 110 to a predetermined contact position and contacts the tip of the tool, and the table 110 and the contact mechanism 120, and the table 110 is contacted via an elastic body such as a spring (not shown). A single displacement meter (FIG. 2) that detects the contact position between the support 130 that is always movable in one axis direction (Z-axis direction in the drawing) with respect to 120 and the tool tip in the movement direction of the tool contact surface 110a. And a position automatic correction device 100 (see FIG. 2) that calculates the positional deviation of the working local portion of the tool based on the output of a single displacement meter.

  The tool contact surface 110a is provided with a first inclined portion 111 for measuring in the X-axis direction and a second inclined portion 112 for measuring in the Y-axis direction in addition to a plane for measuring in the Z-axis direction. Yes. Further, the first inclined portion 111 is formed with a first inclined surface portion 111a that forms an angle α with the tool contact surface 110a and contacts the tool tip portion. In addition, the second inclined portion 112 is formed with a second inclined surface portion 112a that forms an angle β with the tool contact surface 110a and contacts the tool tip portion.

  Hereinafter, a reference position measurement flow regarding the automatic correction method of the tool tip position in the first embodiment will be described with reference to FIGS. 11 and 12. From the flowchart shown in FIG. 11, first, the tip of the reference tool is moved to the Z direction measurement position, and is brought into contact with the tool contact surface 110a of the table 110 that is the Z direction measurement surface (step S101). Subsequently, the value of the displacement meter is read and stored as the Z-direction reference position (Zs) (step S102). This corresponds to the state of steps S101 and S102 in FIG. Here, the tool contact surface 110a of the table 110 indicated by the dotted line in FIG. 12A is positioned at the Z-direction measurement position for detecting the displacement in the Z-axis direction, and the force is applied in the Z-axis direction of the table 110. It is assumed that there is no tool tip 50a at the Z-direction measurement position, and the table 110 is not displaced relative to the support 130 (see FIG. 10) in the Z-axis direction. Show. Further, the tool contact surface 110a of the table 110 indicated by a solid line in FIG. 12A shows a state in which the tool tip 50a at the Z-direction measurement position pushes down the tool contact surface 110a of the table 110 in the Z-axis direction. Yes.

  Next, the table 110 is moved to the X direction measurement position, and the tip of the reference tool is brought into contact with the first inclined surface portion 111a of the first inclined portion 111 that is the X direction measurement surface (step S103). Subsequently, the value of the displacement meter is read and stored as the X-direction reference position (Xs) (step S104). This corresponds to the state of steps S103 and S104 in FIG. Here, the tool contact surface 110a of the table 110 indicated by a dotted line in FIG. 12B shows a state assuming that the tool tip 50a at the X direction measurement position is not in contact with the first inclined surface 111a. A tool contact surface 110a of the table 110 indicated by a solid line shows a state in which the tool tip 50a at the measurement position in the X direction actually pushes the first inclined surface 111a.

  Next, the table 110 is moved to the Y direction measurement position, and the tip of the reference tool is brought into contact with the second inclined surface portion 112a of the second inclined portion 112 that is the Y direction measurement surface (step S105). And the value of a displacement meter is read and memorize | stored as a Y direction reference position (Ys) (step S106). This corresponds to the state of steps S105 and S106 in FIG. Here, the tool contact surface 110a of the table 110 indicated by a dotted line in FIG. 12C shows a state assuming that the tool tip 50a at the measurement position in the Y direction is not in contact with the second inclined surface 112a. The tool contact surface 110a of the table 110 indicated by a solid line shows a state in which the tool tip 50a at the measurement position in the Y direction presses the second inclined surface 112a.

  Next, the robot is taught with the reference tool (step S107). This is a teaching work that is performed only once.

  Subsequently, with respect to the tool replacement in the first embodiment and the position measurement flow after deterioration when a certain amount of time has elapsed from the teaching work in step S107 and the tool needs to be replaced, FIG. And a tool tip state explanatory diagram shown in FIGS. 14 and 15.

  As shown in the flowchart of FIG. 13, the table 110 is first moved to the Z direction measurement position, and the tip of the tool is brought into contact with the tool contact surface 110a of the table 110 which is the Z direction measurement surface (step S111). And the value of a displacement meter is read and memorize | stored as a Z direction present position (Zp) (step S112). This corresponds to the state of step S112 in FIG. Here, the tool contact surface 110a of the table 110 indicated by a dotted line in FIG. 14A is positioned at the Z-direction measurement position for detecting the displacement in the Z-axis direction, and a force is applied in the Z-axis direction of the table 110. It is assumed that there is no tool tip 50a at the Z-direction measurement position, and the table 110 is not displaced relative to the support 130 (see FIG. 10) in the Z-axis direction. Show. Further, a tool contact surface 110a of the table 110 indicated by a solid line in FIG. 14A shows a state in which the tool tip 50a after the positional displacement pushes down the tool contact surface 110a of the table 110 in the Z-axis direction.

  Next, a deviation amount ΔZ (= Zp−Zs) between the current position in the Z direction and the reference position in the Z direction is calculated (step S113). This corresponds to the state of step S113 in FIG. The measurement value measured in step S102 is used as the Z-direction reference position Zs here.

  Next, the table 110 is moved to the X direction measurement position, and the tip of the tool is brought into contact with the first inclined surface portion 111a of the first inclined portion 111 that is the X direction measuring surface (step S114). And the value of a displacement meter is read and memorize | stored as a X direction present position (Xp) (step S115). This corresponds to steps S114 and S115 in FIG. Here, the tool contact surface 110a of the table 110 indicated by a dotted line in FIG. 14B shows a state assuming that the tool tip 50a after the positional deviation is not in contact with the first inclined surface portion 111a, and is indicated by a solid line. A tool contact surface 110a of the table 110 shown in FIG. 3 shows a state where the tool tip 50a after the positional deviation actually pushes the first slope portion 111a.

  Next, Xp ′ (= Xp−ΔZ) is calculated in order to eliminate the influence of the amount of deviation in the Z direction (step S116). Then, the deviation amount ΔX (= (Xp′−Xs) / tan α (α is the first slope portion 111a of the first slope portion 111) and the tool contact surface 110a of the table 110 between the X-direction current position and the X-direction reference position. Is calculated) (step S117). This corresponds to the state of step S116 in FIG.

  Next, the table 110 is moved to the Y direction measurement position, and the tip of the tool is brought into contact with the second inclined surface portion 112a of the second inclined portion 112 that is the Y direction measurement surface (step S118). Then, the value of the displacement meter is read and stored as the Y-direction current position (Yp) (step S119). This corresponds to the state of steps S118 and S119 in FIG.

  Next, Yp ′ (= Yp−ΔZ) is calculated in order to eliminate the influence of the amount of deviation in the Z direction (step S120). Then, a deviation amount ΔY (= (Yp′−Ys) / tan β (β is the second slope portion 112a of the second slope portion 112) and the tool contact surface 110a of the table 110 between the Y-direction current position and the Y-direction reference position. Is calculated) (step S121). This corresponds to the state of step S121 in FIG.

  Next, the teaching position set first is offset (on data) by the amount of deviation ΔX, ΔY, ΔZ in each axial direction (on the data) (step S122).

  According to the first embodiment of the present invention, even when the position of the tool tip is displaced due to wear or replacement of the tool tip, by installing the displacement meter on the end surface of the contact mechanism such as a robot, A deviation amount from the reference position is calculated based on a measurement value from the displacement meter, and the deviation amount can be automatically corrected to be reflected in the robot teaching. As a result, it is possible to flexibly cope with changes in the apparatus, the time for performing the teaching work can be shortened, and a constant quality of a product manufactured by the robot can be ensured.

  Next, an automatic correction device and automatic correction method for a tool tip position according to the second embodiment will be described. FIG. 16 is a perspective view of the tool tip position automatic correcting device according to Example 2 corresponding to one embodiment of the present invention. FIG. 17 is a perspective view illustrating a state in which the table of the tool tip automatic correction device according to the second embodiment illustrated in FIG. 16 is rotated by 90 ° about the Z axis.

  As shown in FIGS. 16 and 17, the automatic correction device for the tool tip position according to the second embodiment is a table (contact portion) having a tool contact surface 210 a on the upper surface that comes into contact with a working local part (tool tip position) of the tool. ) 210, a contact mechanism (not shown) for moving the table 210 to a predetermined contact position and contacting the tool tip, and a table interposed between the contact mechanism and the table 210 via an elastic body such as a spring. A single displacement meter that detects the contact position between the support 230 that is always movable relative to the contact mechanism in one axis (Z-axis) direction and the tool tip in the movement direction of the tool contact surface (see FIG. 2) And a computing device (see FIG. 2) for computing the positional deviation of the working local portion of the tool based on the output of a single displacement meter.

  In addition to a plane for measuring the Z-axis direction, the tool contact surface 210a is provided with an inclined portion 211 for measuring the tool tip position in the X-axis direction and the Y-axis direction. The inclined portion 211 is formed with an inclined portion 211a that forms an angle α with the tool contact surface 210a and contacts the tip of the tool. A rotation mechanism (not shown) is provided around the Z axis of the support 230 so as to match the normal direction of the inclined surface portion 211a of the inclined portion 211 with the X axis direction and the Y axis direction when viewed from the Z axis direction. ing. Thus, in the second embodiment, unlike the first embodiment, the inclined portion can be provided on the table 210 as a single inclined portion, and the structure is simplified. When the contact mechanism has a rotation axis around Zr, that is, the Z axis, the measurement slope to be installed can be reduced as in the second embodiment by using the rotation axis.

  Hereinafter, the reference position measurement flow in the second embodiment will be described with reference to the flowchart of FIG. First, the table 210 is moved to the Z direction measurement position, and the tip of the reference tool is brought into contact with the tool contact surface 210a that is the Z direction measurement surface (step S201). And the value of a displacement meter is read and memorize | stored as a Z direction reference position (Zs) (step S202).

  Next, the table 210 is moved to the X direction measurement position, and the tip of the reference tool is brought into contact with the slope 211a of the slope 211 that is the X direction measurement surface (step S203). And the value of a displacement meter is read and memorize | stored as a X direction reference position (Xs) (step S204).

  Next, as shown in FIGS. 16 to 17, the X direction measurement surface is rotated by 90 ° around the Z axis to form the Y direction measurement surface (step S <b> 205). Then, the table 210 is moved to the Y direction measurement position, and the tip of the reference tool is brought into contact with the slope 211a of the slope 211 that is the Y direction measurement surface (step S206). And the value of a displacement meter is read and memorize | stored as a Y direction reference position (Ys) (step S207).

  Next, the robot is taught with the reference tool attached (step S208).

  Next, a tool measurement and position measurement flow after deterioration in the second embodiment will be described with reference to the flowchart of FIG. First, the table 210 is moved to the Z direction measurement position, and the tip of the tool is brought into contact with the tool contact surface 210a that is the Z direction measurement surface (step S211). And the value of a displacement meter is read and memorize | stored as a Z direction present position (Zp) (step S212). Then, a deviation amount ΔZ (= Zp−Zs) between the current position in the Z direction and the reference position in the Z direction is calculated (step S213).

  Next, the table 210 is moved to the X direction measurement position, and the tip of the tool is brought into contact with the slope 211a of the slope 211 that is the X direction measurement surface (step S214). And the value of a displacement meter is read and memorize | stored as a X direction present position (Xp) (step S215). Then, Xp ′ (= Xp−ΔZ) is calculated in order to eliminate the influence of the amount of deviation in the Z direction (step S216). Then, a deviation amount ΔX (= (Xp′−Xs) / tan α) between the current position in the X direction and the reference position in the X direction is calculated (step S217). Here, α is an angle formed by the tool contact surface 210a and the slope portion 211a.

  Next, as shown in FIGS. 16 and 17, the slope 211a of the slope 211 that is the X-direction measurement surface is rotated by 90 ° about the Z-axis to form the Y-direction measurement surface (step S218). Then, the table 210 is moved to the Y direction measurement position, and the tip of the tool is brought into contact with the Y direction measurement surface (step S219). And the value of a displacement meter is read and memorize | stored as a Y direction present position (Yp) (step S220). Then, Yp ′ (= Yp−ΔZ) is calculated in order to remove the influence of the amount of deviation in the Z direction (step S221). Then, a deviation amount Y (= Yp′−Ys) between the Y-direction current position and the Y-direction reference position is calculated (step S222). At this time, the actual shift amount ΔY in the Y direction is (Yp′−Ys) / tan α. Here, α is an angle formed by the tool contact surface 210a and the slope portion 212a.

  Next, the teaching position input initially is offset on the data by the amount of deviation ΔX, ΔY, ΔZ in each axial direction without actually re-teaching the operator (step S223).

  According to the second embodiment of the present invention, even when the position of the tool tip is displaced due to wear or replacement of the tool tip, by installing the displacement meter on the end surface of the contact mechanism such as a robot, A deviation amount from the reference position is calculated based on a measurement value from the displacement meter, and the deviation amount can be automatically corrected to be reflected in the robot teaching. As a result, it is possible to flexibly respond to changes in the apparatus, the time for performing the teaching work can be shortened, and a constant quality of the product manufactured by the robot can be ensured. Further, since the table 210 is rotated 90 degrees as shown in FIGS. 16 to 17 using the rotation driving mechanism around the Z axis of the contact mechanism 220, the single inclined portion 211 is set as the table. It is only necessary to provide it above, and the structure can be simplified.

  Next, an automatic correction device and automatic correction method for the tool tip position in the automatic device according to the third embodiment will be described. FIG. 20 is a perspective view of the tool tip position automatic correcting device according to Example 3 corresponding to one embodiment of the present invention. FIG. 21 is a perspective view showing a slope forming state of the automatic correction device for the tool tip position shown in FIG. FIG. 22 is a perspective view showing a state in which the table of the automatic correction device for the tool tip position shown in FIG. 21 is rotated by 90 ° around the Z axis.

  As shown in FIGS. 20 to 22, the automatic correction device for the tool tip position according to the third embodiment is a table (contact part) having a tool contact surface 310 a on the upper surface that comes into contact with a working local part (tool tip position) of the tool. ) 310, a contact mechanism 320 that moves the table 310 to a predetermined contact position and contacts the tip of the tool, and is interposed between the contact mechanism 320 and the table 310, and contacts the table 310 via an elastic body such as a spring. A support 330 that is supported so as to be always movable in one axis (Z-axis) direction with respect to the mechanism 320, and a single displacement meter (see FIG. 2) that detects a contact position with the tool in the moving direction of the tool contact surface 310a. And an arithmetic unit (see FIG. 2) for calculating the positional deviation of the working local portion of the tool based on the output of a single displacement meter. In the third embodiment, unlike the first embodiment, only a single inclined portion needs to be provided on the table, so that the structure can be simplified. At this time, the entire structure can be further simplified by substituting the rotation mechanism for rotating the table 310 with the r-axis at the tip of the robot hand.

  In addition to the plane for measuring the Z-axis direction, the tool contact surface 310a includes a first inclined surface 351 (see FIG. 21) for measuring the X-axis direction and a second inclination for measuring the Y-axis direction. An inclined plate 350 that forms a surface 352 (see FIG. 22), and a rotating shaft 361 and a rotating shaft drive mechanism 362 that incline the inclined plate 350 at a predetermined angle such as an angle α with respect to the tool contact surface 310a. ing. Further, the support 330 is configured so that the normals of both the first inclined surface 351 and the second inclined surface 352 formed by the inclined plate 350 coincide with the X axis and the Y axis as viewed from the Z axis direction. It can rotate around the Z axis. That is, by providing the inclined plate 350, the rotation shaft 361, and the rotation shaft drive mechanism 362, the measurement slope provided on the tool contact surface 310a is reduced.

  Hereinafter, the reference position measurement flow in the third embodiment will be described based on the flowchart of FIG. First, the table 310 is moved to the Z direction measurement position, and the tip of the reference tool is brought into contact with the Z direction measurement surface (step S301). And the value of a displacement meter is read and memorize | stored as a Z direction reference position (Zs) (step S302).

  Next, as shown in FIGS. 20 to 21, the Z-direction measurement surface is rotated by a known angle α to form the first inclined surface 351 as the X-direction measurement surface (step S303). Next, the table 310 is moved to the X direction measurement position, and the tip of the reference tool is brought into contact with the first inclined surface 351 that is the X direction measurement surface (step S304). Next, the value of the displacement meter is read and stored as the X-direction reference position (Xs) as shown in FIGS. 21 to 22 (step S305).

  Next, the X direction measurement surface is rotated by 90 ° around the Z axis to form a second inclined surface 352 as a Y direction measurement surface (step S306). Then, the table 310 is moved to the Y direction measurement position, and the tip of the reference tool is brought into contact with the second inclined surface 352 as the Y direction measurement surface (step S307). And the value of a displacement meter is read and memorize | stored as a Y direction reference position (Ys) (step S308).

  Next, the robot is taught with the reference tool attached (step S309).

  Next, a tool measurement and a position measurement flow after deterioration in the third embodiment will be described based on the flowchart of FIG. First, the table 310 is moved to the Z direction measurement position, and the tip of the tool is brought into contact with the Z direction measurement surface (step S311). And the value of a displacement meter is read and memorize | stored as a Z direction present position (Zp) (step S312). Then, a deviation amount ΔZ (= Zp−Zs) between the Z-direction current position and the Z-direction reference position is calculated (step S313).

  Next, as shown in FIGS. 20 to 21, the Z-direction measurement surface is rotated by a known angle α degrees to form a first inclined surface as the X-direction measurement surface (step S314). Then, the table 310 is moved to the X direction measurement position, and the tip of the tool is brought into contact with the X direction measurement surface (step S315). And the value of a displacement meter is read and memorize | stored as a X direction present position (Xp) (step S316). Then, Xp ′ (= Xp−ΔZ) is calculated in order to eliminate the influence of the amount of deviation in the Z direction (step S317). The amount of deviation ΔX = (Xp′−Xs) / tan α (α is the amount of deviation of the table 310 of the inclined plate 350 when measuring the amount of deviation in the X-axis direction of the tool tip. An inclination angle with respect to the tool contact surface 310a is calculated (step S318).

  Next, as shown in FIGS. 21 to 22, the X-direction measurement surface is rotated by 90 ° around the Z-axis to form a second inclined surface as the Y-direction measurement surface (step S319). Then, the table 310 is moved to the Y direction measurement position, and the tip of the tool is brought into contact with the second inclined surface as the Y direction measurement surface (step S320). Then, the value of the displacement meter is read and stored as the Y-direction current position (Yp) (step S321). Then, Yp ′ (= Yp−ΔZ) is calculated in order to eliminate the influence of the amount of deviation in the Z direction (step S322). Then, the amount of deviation ΔY = (Xp′−Xs) / tan α (α is the amount of deviation of the table 310 of the inclined plate 350 when measuring the amount of deviation in the X-axis direction of the tool tip. An inclination angle with respect to the tool contact surface 310a is calculated (step S323).

  Next, the teaching position input initially is offset on the data by the amount of deviation ΔX, ΔY, ΔZ in each axis without re-teaching by the operator (step S324).

  According to the third embodiment of the present invention, even when the position of the tool tip is displaced due to wear or replacement of the tool tip, by installing the displacement meter on the end surface of the contact mechanism such as a robot, A deviation amount from the reference position is calculated based on a measurement value from the displacement meter, and the deviation amount can be automatically corrected to be reflected in the robot teaching. As a result, it is possible to flexibly cope with changes in the apparatus, the time for performing the teaching work can be shortened, and a constant quality of a product manufactured using the robot can be ensured.

  In addition to the above-described embodiments, as a fourth embodiment, that is, a fourth embodiment, in an automatic apparatus using a robot, a displacement meter included in the Z axis of the robot may be used as the displacement meter 40. In this case, as shown in FIG. 25, for example, a tool tip portion contact detection means (tip contact detection means) 105 such as a micro SW, a photoelectric SW, or a proximity SW is required. The other constituent elements are the same as those in the schematic block diagram of the automatic tool tip position correction apparatus shown in FIG. 2 and will not be described in detail.

  FIG. 26 shows a state in which the Z-direction measuring surface structurally connected to the robot hand through the elastic body in Example 4 moves toward the tip tool (FIG. 26A), and the tool tip and the contact surface are in contact with each other. FIG. 26B shows a state of contact (FIG. 26B), and a state of contact detected by a tool contact detection means including a micro SW, a photoelectric SW, and a proximity SW via an elastic body (FIG. 26C).

  That is, in the present embodiment, the tool contact detection means composed of micro SW, photoelectric SW, proximity SW, etc. is disposed in or near the elastic body interposed between the robot hand tip and the Z direction measurement surface, A change in state when the elastic body is compressed by a certain amount due to contact with the contact surface is detected mechanically, optically, or magnetically via these micro SW, photoelectric SW, proximity SW, and the like. It is like that.

  Hereinafter, the reference position measurement flow of this embodiment using the Z axis of the robot will be described with reference to FIG. FIG. 27 is a reference position measurement flowchart of the tool tip position automatic correction method in the tool tip position automatic correction apparatus according to the fourth embodiment shown in FIG.

  First, it moves to the Z direction measurement start position, and moves in the Z direction until the tip of the reference tool comes into contact with the Z direction measurement surface (step S401). At this time, contact detection means such as a micro SW, a photoelectric SW, and a proximity SW provided between the tip of the robot hand and the Z direction measurement surface are in contact with each other to detect contact between the tip of the reference tool and the Z direction measurement surface. The tip of the robot is moved in the Z-axis direction until it is detected. Next, the Z-axis coordinate of the robot is read and stored as the Z-direction reference position (Zs) (step S402). Next, it moves to the X direction measurement start position, and moves in the Z direction until the tip of the reference tool comes into contact with the X direction measurement surface (step S403). Next, the Z-axis coordinate of the robot is read and stored as the X-direction reference position (Xs) (step S404). Next, it moves to the Z direction measurement start position, and moves in the Z direction until the tip of the reference tool comes into contact with the Y direction measurement surface (step S405). Next, the Z-axis coordinate of the robot is read and stored as the Y-direction reference position (Ys) (step S406). Then, the robot is taught with the reference tool (step S407).

  Subsequently, a tool change and a position measurement flow after deterioration using the Z axis of the robot will be described with reference to FIG. FIG. 28 is a position measurement flowchart after tool replacement and deterioration in the tool tip position automatic correction method in the tool tip position automatic correction apparatus according to the fourth embodiment shown in FIG.

  First, it moves to the Z direction measurement start position, and moves in the Z direction until the tip of the reference tool comes into contact with the Z direction measurement surface (step S411). At this time, contact detection means such as a micro SW, a photoelectric SW, and a proximity SW provided between the tip of the robot hand and the Z direction measurement surface are in contact with each other to detect contact between the tip of the reference tool and the Z direction measurement surface. The tip of the robot is moved in the Z-axis direction until it is detected.

  Next, the Z-axis coordinate of the robot is read and stored as the Z-direction current position (Zp) (step S412), and a deviation amount ΔZ (= Zp−Zs) between the Z-direction current position and the Z-direction reference position is calculated (step S413). ). Next, it moves to the X direction measurement start position, and moves in the Z direction until the tip of the reference tool comes into contact with the X direction measurement surface (step S414). Next, the Z-axis coordinate of the robot is read and stored as the current position (Xp) in the X direction (step S415). Next, Xp ′ (= Xp−ΔZ) is calculated in order to eliminate the influence of the amount of deviation in the Z direction (step S416). Then, a deviation amount ΔX = (Xp′−Xs) / tan α between the X-direction current position and the X-direction reference position is calculated (step S417). Next, it moves to the Y direction measurement start position, and moves in the Z direction until the tip of the reference tool comes into contact with the Y direction measurement surface (step S419). Next, the Z-axis coordinate of the robot is read and stored as the Y-direction current position (Yp) (step S420), and Yp ′ (= Yp−ΔZ) is calculated to eliminate the influence of the Z-direction deviation amount (step S421). Then, a deviation amount ΔY = (Yp′−Ys) / tan β between the current position in the Y direction and the reference position in the Y direction is calculated (step S422). Then, the teaching position is offset by the amount of deviation ΔX, ΔY, ΔZ in each axial direction (step S423).

  As described above, even if the tool tip contact detection means is provided at the tip of the robot, the same effects as those of the first to third embodiments can be obtained.

  As described above, the tool tip position automatic correction device according to the present invention uses a slight displacement due to wear or replacement of the tool tip as a deviation amount from the reference position based on the measurement data from the deviation amount calculation means. By calculating, the position correction of the tool tip can be automatically performed. This eliminates the need for the operator to teach directly when exchanging tools with aging due to use or reflecting the amount of deviation from the reference position of the tool in the robot teaching content, reducing the maintenance effort, It also helps to improve the quality of products assembled by robots.

  Further, the tool tip position automatic correction device according to the present invention is configured so that the displacement meter is attached to the end face of a contact mechanism such as a robot even when the tool tip position is displaced due to wear or replacement of the tool tip part. By installing in the position, the amount of deviation from the reference position is calculated from the measured value from the displacement meter, and the amount of deviation can be automatically corrected to be reflected in the teaching of the robot. As a result, it is possible to flexibly cope with changes in the apparatus, the time for performing the teaching work can be shortened, and a constant quality of a product manufactured using the robot can be ensured.

  In particular, since the state of tools such as soldering irons, cutting tools, and cutting drills changes daily due to wear, the quality of products manufactured using such tools is not stable. By providing the measurement function in the apparatus, it is possible to flexibly cope with the secular change of the tool tip position in the automatic apparatus, leading to the stabilization of the quality of products manufactured using the tool in the automatic apparatus.

  As shown in FIG. 8, the present invention has a first form in which a contact mechanism, a support, a displacement meter, and a table are provided at predetermined positions of a work station, and a tool is fixed at an appropriate position of the work station. As shown in FIG. 9, a contact mechanism provided with a tool is arranged at a predetermined position of the work station, and a support, a displacement meter, and a table are installed at appropriate positions of the work station. May be.

10 Table (contact part)
10a Tool contact surface 11 First slope 11a Slope for measurement (slope)
12 Second slope 12a Slope for measurement (slope)
DESCRIPTION OF SYMBOLS 20 Contact mechanism 21 Scalar type robot 21a Robot tip part 22 Direct acting type robot 25 Soldering station 29 Case 30 Support body 40, 41, 42 Displacement meter 50 Tool (soldering iron)
50a Tool tip (local part for tool work)
51 Syringe 52 Dispenser 52a Nozzle tip 100 Position automatic correction device 101 Displacement meter measurement value acquisition means 102 Z-axis deviation amount calculation means 103 X-axis and Y-axis deviation amount calculation means 104 X, Y, Z deviation amount output means 105 Tool tip Contact detection means 110 Table (contact part)
110a Tool contact surface 111 1st inclination part 111a 1st slope part 112 2nd inclination part 112a 2nd slope part 116 Rotating shaft 120 Contact mechanism 130 Support body 210 Table (contact part)
210a Tool contact surface 211 Inclined portion 211a Inclined portion 220 Contact mechanism 230 Support 310 Table (contact portion)
310a Tool contact surface 320 Contact mechanism 330 Support body 350 Inclined plate 351 First inclined surface 352 Second inclined surface 361 Rotating shaft 362 Rotating shaft driving mechanism

Claims (4)

An automatic correction device for the tool tip position in an automatic device that corrects the tool tip position that requires aging and replacement due to use,
A contact portion having a contact surface with which the tool tip comes into contact;
A support portion that supports the contact portion so that the contact portion can move in a uniaxial direction;
A displacement amount measuring means for measuring, as a displacement amount in one direction of the contact portion, a position where the tool tip contacts the contact surface in a state where the support portion is positioned at a contact position;
The difference between displacements measured before and after the tool tip aging and before and after the change is used as a displacement amount in the Z-axis direction of the orthogonal coordinate system, and is a further contact position, the displacement amount in the Z-axis direction and the contact surface. Is perpendicular to the Z-axis direction from the secular change when the tool tip comes into contact with a flat surface formed in the Z-axis direction and a slope having a predetermined inclination angle and the difference in displacement of the contact part before and after replacement A deviation amount calculating means for calculating a deviation amount due to secular change or replacement of the tool tip with respect to the X-axis direction and the Y-axis direction of the orthogonal coordinate system;
An automatic correction device for a tool tip position in an automatic device, comprising output means for outputting the calculated deviation amounts.   The deviation amount in the X-axis direction and the Y-axis direction calculated by the deviation amount calculation means is calculated using a rotation axis provided in the robot, and the reference of the tip of the tool is calculated using the rotation axis. The automatic correction device for the tool tip position in the automatic device according to claim 1, wherein an amount of deviation from the position in the X-axis direction and the Y-axis direction is calculated. An automatic correction method for the tool tip position in an automatic device that corrects the tool tip position that requires aging and replacement due to use,
Preparing a contact part having a contact surface with which the tool tip comes in contact and a support part for supporting the contact part so that the contact part can move in a uniaxial direction;
Measure the position where the tool tip is in contact with the contact surface in a state where the support portion is positioned at the contact position as a displacement amount in one direction of the contact portion,
The difference between displacements measured before and after the tool tip aging and before and after the change is used as a displacement amount in the Z-axis direction of the orthogonal coordinate system, and is a further contact position, the displacement amount in the Z-axis direction and the contact surface. Is perpendicular to the Z-axis direction from the secular change when the tool tip comes into contact with a flat surface formed in the Z-axis direction and a slope having a predetermined inclination angle and the difference in displacement of the contact part before and after replacement Calculating a deviation amount due to aging and replacement of the tool tip with respect to the X-axis direction and the Y-axis direction of the orthogonal coordinate system,
An automatic correction method for a tool tip position in an automatic apparatus, wherein the calculated deviation amounts are output. The deviation amount in the X-axis direction and the Y-axis direction calculated by the deviation amount calculation means is calculated using a rotation axis provided in the robot, and the reference of the tip of the tool is calculated using the rotation axis. 4. The method for automatically correcting a tool tip position in an automatic device according to claim 3, wherein the amount of deviation from the position in the X-axis direction and the Y-axis direction is calculated.

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