JP2010284750A - Calibration tool, workpiece installation stand, and calibration method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a calibration tool setting a high precision coordinate system with respect to a workpiece or a workpiece installation stand. <P>SOLUTION: The calibration tool includes a fitting section 12 having a shape fittable to a workpiece installation section 22 of the work installation stand 20 for installing an objective workpiece as an operation object of a robot device; and calibration marks 32a, 32b, and 32c disposed at three locations as measuring locations of positional data for setting a workpiece orthogonal coordinate system according to three-point measurement method. The fitting section 12 and the workpiece installation section 22 are fitted together and installed on the workpiece installation stand 20, thereby measuring the positional data on the workpiece installation stand 20. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to calibration of a robot apparatus including a manipulator, and more particularly, to a calibration jig, a workpiece installation table, and a calibration method for setting a coordinate system for a workpiece or a workpiece installation table.

  Conventionally, a robot apparatus provided with a manipulator has been proposed. In such a robot apparatus, the positional relationship with the target workpiece changes every time the robot apparatus is moved and moved. Therefore, after the robot apparatus is moved and moved, alignment with the target work must be performed every time, which is complicated. In particular, in a mobile robot apparatus or an assembly line in which the robot apparatus is used by appropriately switching with an operator, the positional relationship between the target workpiece and the robot apparatus frequently changes.

  In the robot apparatus, every time the positional relationship between the target workpiece and the robot apparatus changes, calibration for calibration must be performed. Conventionally, in order to perform calibration, the robot device operator operates the robot device using a teaching pendant, etc., and then places the target workpiece on the work table or points the coordinate origin position. The position data of the position was taught.

  In order to acquire the position data of the target position, a method is generally used in which a mark is placed on the target work and the tip of the tool is visually approached. However, the visual teaching operation is difficult to obtain reproducibility, and individual differences among calibration operators are likely to be affected, so the accuracy is not stable.

  If the accuracy of the teaching operation is insufficient, the robot apparatus may stop during operation. Also, in order to perform the teaching operation with high accuracy, it is necessary for the worker to work close to the operating robot device in order to improve the visual accuracy, and it is also necessary to ensure the safety of the worker. Met. In addition, the visual teaching operation requires concentration, and thus takes time.

  Therefore, force control of the tip of the tool to the circular hole mark of the jig fixed to the workpiece mounting base as a means to easily and accurately perform the teaching operation of the robot device without depending on the skill level of the operator There has been proposed a method for acquiring position data by inserting in (see Patent Document 1).

  However, in this proposed method using force control to align the mark and the tip of the tool, when inserting the shaft into the hole with tight tolerance by force control, the posture of the tool tip at the start of insertion depends on the direction of the hole. If it is greatly deviated, there is a problem that it is in a galling state and the insertion fails and accurate position data cannot be acquired. In addition, even if the insertion is successful, there is a problem that it takes time for the operation to follow the correct posture because it is difficult to obtain accurate moment information. Even if the insertion was successful, the accuracy of the posture data obtained was low due to the influence of the displacement of the arm and sensor.

  As another means for simplifying the teaching operation of the robot apparatus with high accuracy, a method of setting a work orthogonal coordinate system based on the position and orientation of a target work is known. A three-point measurement method is generally used for setting the workpiece orthogonal coordinates. The three-point measurement method is a measurement method in which a tool attached to a manipulator hand is moved to teach arbitrary three points, and a work orthogonal coordinate system is calculated from position data of the three points (see Patent Document 2).

  In order to obtain the position data of three points with high accuracy, it is necessary to place marks such as pins and holes at three locations. Since these marks cannot usually be installed at a place where the target work is fixed, they are installed in an empty space at the end of the work table. Therefore, in the conventional three-point measurement method, the origin position of the measured workpiece orthogonal coordinates is away from the position of the target workpiece.

  However, even if a place away from the position of the target workpiece is measured, the position of the target workpiece cannot be obtained with high accuracy if the processing accuracy of the work table or the workpiece setting table is low. Further, if the coordinate axis of the measured workpiece orthogonal coordinate is deviated, the position error increases in proportion to the distance from the origin. Therefore, when the origin position is located away from the position of the target workpiece, there is a problem that accuracy near the target workpiece is lowered.

JP-A-5-111886 Japanese Patent No. 2684359

  The present invention has been made in view of the above circumstances, and provides a calibration jig, a workpiece installation table, and a calibration method capable of setting a highly accurate coordinate system for a workpiece or a workpiece installation table. Objective.

  According to one aspect of the present invention, a fitting unit having a shape that can be fitted to a workpiece setting unit of a workpiece setting table for setting a target workpiece that is a work target of a robot apparatus, and a workpiece orthogonal coordinate system based on a three-point measurement method Calibration marks provided at three locations as measurement locations of position data for setting the position, and the fitting portion and workpiece setting portion are fitted together and installed on the workpiece setting table, and the position on the workpiece setting table The gist is that it is a calibration jig capable of measuring data.

  According to another aspect of the present invention, a workpiece setting unit that sets a target workpiece that is a work target of a robot apparatus, and a workpiece setting position as a measurement point of position data for setting a workpiece orthogonal coordinate system by a three-point measurement method And a calibration mark provided at three locations near the workpiece, and a gist of being a workpiece placement table that enables measurement of position data in the vicinity of the workpiece placement portion.

  According to another aspect of the present invention, a fitting portion having a shape that can be fitted with a workpiece setting portion of a workpiece setting table on which a target workpiece that is a work target of the robot apparatus is set and a workpiece setting portion are fitted and compared. The position data of the calibration marks provided at the three positions of the calibration jig as the measurement points for setting the work fixture coordinate table by the three-point measurement method and the step of installing the correct jig on the workpiece setting table The gist of the present invention is a calibration method including a step of measuring by a data measuring unit held by the tip of a manipulator or fixed to the tip, and a step of setting a work orthogonal coordinate system from three position data. .

  According to another aspect of the present invention, three positions in the vicinity of a workpiece installation section for installing a target workpiece that is a work target of the robot apparatus are set as position data measurement locations for setting a workpiece orthogonal coordinate system by a three-point measurement method. The position measurement data of the calibration mark provided in the robot is measured by a data measuring unit that is gripped by the manipulator tip of the robot apparatus or fixed to the tip, and the workpiece orthogonal coordinate system is determined from the three position data. The gist is that the calibration method includes a setting step.

  ADVANTAGE OF THE INVENTION According to this invention, the calibration jig | tool which can set a highly accurate coordinate system with respect to a workpiece | work or a workpiece installation base, a workpiece installation table, and a calibration method can be provided.

It is a general-view figure of the calibration jig and manipulator concerning a 1st embodiment of the present invention. It is a general-view figure of the workpiece installation base and manipulator concerning the 2nd Embodiment of this invention. It is a general-view figure of the calibration jig and manipulator concerning a 3rd embodiment of the present invention. It is a schematic plan view which shows a part of calibration method which concerns on the 3rd Embodiment of this invention. It is a general-view figure of the work installation base and manipulator concerning a 4th embodiment of the present invention. It is a general-view figure of the calibration jig and manipulator concerning a 5th embodiment of the present invention. It is the schematic which shows the combination of the shape of the data measurement part and calibration mark which concern on the 5th Embodiment of this invention. It is a general-view figure of the workpiece | work installation stand and manipulator which concern on the 6th Embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness of each layer, and the like are different from the actual ones. Therefore, specific thicknesses and dimensions should be determined in light of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.

(First embodiment)
As shown in FIG. 1, the calibration jig 10 according to the first embodiment of the present invention can be fitted to a workpiece setting portion 22 of a workpiece setting table 20 for setting a target workpiece that is a work target of the robot apparatus. A fitting portion 12 having a shape, and calibration marks 32a, 32b, and 32c provided at three locations as measurement points of position data for setting a workpiece orthogonal coordinate system by a three-point measurement method. 12 and the workpiece setting unit 22 are fitted together and installed on the workpiece setting table 20, and position data on the workpiece setting table 20 can be measured.

  The fitting part 12 should just be a shape which can be fitted with the workpiece | work installation part 22 and can restrain the position and attitude | position of the calibration jig | tool 10. FIG. For example, as shown in FIG. 1, when the workpiece | work installation part 22 is concave shape, the fitting part 12 becomes a convex shape and becomes a shape which can be fitted together. Further, when the fitting portion 12 is fitted with the work installation portion 22, the shape does not rotate around the Z axis. By fitting the fitting portion 12 and the workpiece setting portion 22 of the workpiece setting table 20 together, the calibration jig 10 can be fixed and installed on the workpiece setting table 20 easily and accurately.

  The calibration marks 32a, 32b, and 32c are shaped so as to be held by the tip of the manipulator 40 of the robot apparatus or fitted so that the data measuring unit 50 fixed to the tip cannot be moved relatively. For example, when the data measuring unit 50 has a pin shape as shown in FIG. 1, the calibration marks 32a, 32b, and 32c have a hole shape that can be fitted to the pin-shaped data measuring unit 50. Note that the axial directions of the calibration marks 32a, 32b, and 32c are provided perpendicular to the surface of the calibration jig 10, and the respective axial directions are aligned. The surface of the calibration jig 10 is a flat surface, and the calibration marks 32a, 32b, and 32c are provided in the same plane.

  Hereinafter, a calibration method using the calibration jig 10 according to the first embodiment will be described.

  (A) First, as shown in FIG. 1, the fitting unit 12 and the workpiece installation unit 22 having a shape that can be fitted to the workpiece installation unit 22 of the workpiece installation table 20 on which the target workpiece that is the work target of the robot apparatus is installed. And the calibration jig 10 is installed on the work installation table.

  (B) Next, the manipulator 40 moves the data measuring unit 50 above the calibration mark 32a. And using the force sensor (not shown) with which the manipulator 40 is provided, the data measurement part 50 is moved below, controlling force, and it fits to the calibration mark 32a. When the data measuring unit 50 is inserted to the end, the positions in the X and Y directions are constrained because the data measuring unit 50 and the calibration mark 32a are fitted. The position in the Z direction is constrained by the contact between the flat surface 52 provided with the data measuring unit 50 and the surface of the calibration jig 10. When the positions in the X, Y, and Z directions are constrained, the position data of the tip position of the calibration mark 32a is measured. Similar to the position data measurement performed at the calibration mark 32a, the position data of the calibration marks 32b and 32c provided at the other two positions are also measured.

  (C) Next, the work orthogonal coordinate system is calculated and set from the measured position data of the three calibration marks 32a, 32b, and 32c using a known three-point measurement method.

  Through the above steps, the position data of the three points and the work orthogonal coordinate system of the robot apparatus based on the position data are set, and the operation of the robot apparatus is controlled using this work orthogonal coordinate system.

  According to the calibration method using the calibration jig according to the first embodiment, the robot apparatus performs calibration on the workpiece setting table 20 that actually performs the work on the target workpiece. Is on the workpiece setting table 20, and even if the processing accuracy of the work table or workpiece setting table 20 on which the target workpiece is set is low, there is no problem. In addition, since the robot apparatus operates near the origin of the set work Cartesian coordinates, the error of the set coordinate axes is less likely to be a problem.

  In addition, according to the calibration method using the calibration jig according to the first embodiment, it is possible to obtain high-accuracy three-point position data using the calibration jig 10, and thus high-precision work orthogonal coordinates. A system can be obtained.

  Further, according to the calibration method using the calibration jig according to the first embodiment, it is possible to obtain the position data of three points using the calibration jig 10, so that the space for calibration is used as a work table or the like. It is not necessary to secure the layout, and the layout design considering the reach of the manipulator 40 is not required.

  Further, according to the calibration method using the calibration jig according to the first embodiment, the position data is obtained by fitting the data measuring unit 50 and the calibration marks 32a, 32b, and 32c by force control instead of visual observation. Therefore, there is no individual difference in the obtained data, and highly accurate measurement can be realized with good reproducibility.

(Second Embodiment)
As shown in FIG. 2, the workpiece setting table 20 according to the second exemplary embodiment of the present invention includes a workpiece setting unit 22 that sets a target workpiece that is a work target of the robot apparatus, and a workpiece orthogonal coordinate by a three-point measurement method. As position data measurement locations for setting the system, calibration marks provided at three locations in the vicinity of the workpiece setting section 22 are provided, and position data in the vicinity of the workpiece setting section 22 can be measured.

  The calibration marks 32a, 32b, and 32c are shaped so as to be held by the tip of the manipulator 40 of the robot apparatus or fitted so that the data measuring unit 50 fixed to the tip cannot be moved relatively. For example, when the data measuring unit 50 has a pin shape as shown in FIG. 2, the calibration marks 32a, 32b, and 32c have a hole shape that can be fitted to the pin-shaped data measuring unit 50. Note that the axial directions of the calibration marks 32a, 32b, and 32c are provided perpendicular to the surface of the calibration jig 10, and the respective axial directions are aligned. Moreover, the surface of the workpiece | work installation stand 20 is a plane, and the calibration marks 32a, 32b, 32c are provided in the same plane.

  A calibration method using the calibration jig 10 according to the second embodiment will be described below.

  (A) First, the manipulator 40 moves the data measuring unit 50 above the calibration mark 32a. And using the force sensor (not shown) with which the manipulator 40 is provided, the data measurement part 50 is moved below, controlling force, and it fits to the calibration mark 32a. When the data measuring unit 50 is inserted to the end, the positions in the X and Y directions are constrained because the data measuring unit 50 and the calibration mark 32a are fitted. The position in the Z direction is constrained by the contact between the plane 52 provided with the data measuring unit 50 and the surface of the workpiece setting table 20. When the positions in the X, Y, and Z directions are constrained, the position data of the tip position of the calibration mark 32a is measured. Similar to the position data measurement performed at the calibration mark 32a, the position data of the calibration marks 32b and 32c provided at the other two positions are also measured.

  (B) Next, the workpiece orthogonal coordinate system is calculated and set from the measured position data of the three calibration marks 32a, 32b, and 32c using a known three-point measurement method.

  Through the above steps, the position data of the three points and the work orthogonal coordinate system of the robot apparatus based on the position data are set, and the operation of the robot apparatus is controlled using this work orthogonal coordinate system.

  According to the calibration method using the workpiece setting table according to the second embodiment, the robot apparatus performs calibration on the workpiece setting table 20 that actually performs the work on the target workpiece. Is on the workpiece setting table 20, and even if the processing accuracy of the work table or workpiece setting table 20 on which the target workpiece is set is low, there is no problem. In addition, since the robot apparatus operates near the origin of the set work Cartesian coordinates, the error of the set coordinate axes is less likely to be a problem.

  In addition, according to the calibration method using the workpiece setting table according to the second embodiment, it is possible to obtain highly accurate three-point position data using the workpiece setting table 20, so that the workpiece orthogonal coordinates with high accuracy are obtained. A system can be obtained.

  Further, according to the calibration method using the workpiece setting table according to the second embodiment, the position data of three points can be obtained using the workpiece setting table 20, so that the calibration space can be used as a work table or the like. It is not necessary to secure the layout, and the layout design considering the reach of the manipulator 40 is not required.

  Further, according to the calibration method using the workpiece setting table according to the second embodiment, the position data is obtained by fitting the data measuring unit 50 and the calibration marks 32a, 32b, and 32c by force control instead of visual observation. Therefore, there is no individual difference in the obtained data, and highly accurate measurement can be realized with good reproducibility.

(Third embodiment)
As shown in FIG. 3, the manipulator 40 according to the third embodiment of the present invention has a surface of the calibration jig 10 at the end of the data measuring unit 50 as compared with the manipulator 40 according to the first embodiment. And a contact surface 54 that is a plane that can come into surface contact with the contact surface. Further, the calibration jig 10 is different in that the calibration jig 10 further includes an interference avoidance unit 30 having a diameter different from that of the calibration marks 32a, 32b, and 32c. Others are substantially the same, and thus redundant description is omitted.

  The interference avoiding unit 30 has a shape in which a gap is formed between the interference measuring unit 30 and the data measuring unit 50 to the extent that the data measuring unit 50 can be relatively moved when fitted together. That is, the interference avoiding unit 30 has a function of avoiding interference with the projections of the data measuring unit 50 and the like that are pin-shaped when the contact surface 54 and the surface of the calibration jig 10 are brought into surface contact. For example, when the data measuring unit 50 has a pin shape as shown in FIG. 1, the interference avoiding unit 30 has a hole shape that is larger than the data measuring unit 50 and smaller than the contact surface 54 provided in the data measuring unit 50. The axial direction of the interference avoiding unit 30 is provided perpendicular to the surface of the calibration jig 10 and is aligned with the axial direction of the calibration marks 32a, 32b, 32c.

  Hereinafter, a calibration method using the calibration jig 10 according to the third embodiment will be described.

  (A) First, as shown in FIG. 3, the fitting unit 12 and the workpiece setting unit 22 having a shape that can be fitted to the workpiece setting unit 22 of the workpiece setting table 20 on which the target workpiece that is a work target of the robot apparatus is set. And the calibration jig 10 is installed on the work installation table.

  (B) Next, the data measuring unit 50 is inserted into the interference avoiding unit 30. At this time, as shown in FIG. 4A, even when the orientation of the data measuring unit 50 at the start of insertion is largely deviated from the direction of the interference avoiding unit (hole) 30, Since there is room for the size of the data measuring unit 50 to move somewhat, as shown in FIG. 4B, the contact surface 54 provided on the data measuring unit 50 and the surface of the calibration jig 10 are force-controlled and pushed. By making contact and surface contact, it is possible to eliminate a deviation between the posture of the data measuring unit 50 and the direction of the interference avoiding unit 30. That is, when the contact surface 54 and the surface of the calibration jig 10 are in surface contact, the interference avoiding unit 30 and the data measuring unit 50 do not interfere with each other. And the attitude | position data of the manipulator 40 in the state which eliminated the shift | offset | difference of the attitude | position of the data measurement part 50 and the direction of the interference avoidance part 30 are measured.

  (C) Next, the manipulator 40 moves the data measuring unit 50 above the calibration mark 32a to control the posture of the posture data measured previously. Then, the manipulator 40 starts insertion into the calibration mark 30a in the posture based on the posture data, and moves the data measuring unit 50 downward while performing force control using a force sensor (not shown) provided in the manipulator 40, Fit to the calibration mark 32a. At this time, the manipulator 40 maintains the posture based on the posture data previously measured, and the posture of the data measurement unit 50 at the start of insertion is not greatly deviated from the direction of the calibration mark 32a. The data measuring unit 50 can be inserted to the end without entering a state. When the data measuring unit 50 is inserted to the end, the positions in the X and Y directions are constrained because the data measuring unit 50 and the calibration mark 32a are fitted. As shown in FIG. 4B, the position in the Z direction is constrained by the contact between the flat surface 52 provided with the data measuring unit 50 and the surface of the calibration jig 10. When the positions in the X, Y, and Z directions are constrained, the position data of the tip position of the calibration mark 32a is measured. Similar to the position data measurement performed at the calibration mark 32a, the position data of the calibration marks 32b and 32c provided at the other two positions are also measured.

  (D) Next, the workpiece orthogonal coordinate system is calculated and set from the measured position data of the three calibration marks 32a, 32b, and 32c using a known three-point measurement method.

  Through the above steps, the position data of the three points and the work orthogonal coordinate system of the robot apparatus based on the position data are set, and the operation of the robot apparatus is controlled using this work orthogonal coordinate system.

  According to the calibration method using the calibration jig according to the third embodiment, the robot apparatus performs calibration on the workpiece setting table 20 that actually performs the work on the target workpiece. Is on the workpiece setting table 20, and even if the processing accuracy of the work table or workpiece setting table 20 on which the target workpiece is set is low, there is no problem. In addition, since the robot apparatus operates near the origin of the set work Cartesian coordinates, the error of the set coordinate axes is less likely to be a problem.

A highly accurate work Cartesian coordinate system can be obtained.

  In addition, according to the calibration method using the calibration jig according to the third embodiment, it is possible to obtain highly accurate three-point position data using the calibration jig 10, so that the work orthogonal coordinates with high precision can be obtained. A system can be obtained.

  Further, according to the calibration method using the calibration jig according to the third embodiment, it is possible to obtain the position data of three points using the calibration jig 10, so that the calibration space is used as a work table or the like. It is not necessary to secure the layout, and the layout design considering the reach of the manipulator 40 is not required.

  Further, according to the calibration method using the calibration jig according to the third embodiment, the position data is obtained by fitting the data measuring unit 50 and the calibration marks 32a, 32b, and 32c by force control instead of visual observation. Therefore, there is no individual difference in the obtained data, and highly accurate measurement can be realized with good reproducibility.

  Further, according to the calibration method using the calibration jig according to the third embodiment, the manipulator 40 obtains the posture data at the time of measurement of the manipulator 40 by the interference avoiding unit in advance, so that the manipulator 40 has the calibration marks 32a and 32b. , 32c, the posture at the start of insertion is not greatly deviated, so that the success rate of insertion by force control is increased and the time required for insertion can be shortened without becoming a squeezed state.

(Fourth embodiment)
As shown in FIG. 5, the workpiece setting table 20 according to the fourth embodiment of the present invention is calibrated at the end of the data measuring unit 50 as compared with the workpiece setting table 20 according to the second embodiment. The difference is that it further includes a contact surface 54 that is a plane that can come into surface contact with the surface of the tool 10. Moreover, the workpiece | work installation stand 20 differs in the point further provided with the interference avoidance part 30 from which the magnitude | size of a diameter differs from the calibration marks 32a, 32b, 32c. Others are substantially the same, and thus redundant description is omitted.

  The interference avoiding unit 30 has a shape in which a gap is formed between the interference measuring unit 30 and the data measuring unit 50 to the extent that the data measuring unit 50 can be relatively moved when fitted together. That is, the interference avoiding unit 30 has a function of avoiding interference with the projections of the data measuring unit 50 and the like that are pin-shaped when the contact surface 54 and the surface of the calibration jig 10 are brought into surface contact. For example, when the data measuring unit 50 has a pin shape as shown in FIG. 1, the interference avoiding unit 30 has a hole shape that is larger than the data measuring unit 50 and smaller than the contact surface 54 provided in the data measuring unit 50. The axial direction of the interference avoiding unit 30 is provided perpendicular to the surface of the calibration jig 10 and is aligned with the axial direction of the calibration marks 32a, 32b, 32c.

  Below, the calibration method using the calibration jig | tool 10 which concerns on 4th Embodiment is demonstrated.

  (A) First, the data measuring unit 50 is inserted into the interference avoiding unit 30. At this time, even when the posture of the data measurement unit 50 at the start of insertion is largely deviated from the direction of the interference avoidance unit (hole) 30, the interference measurement unit 30 has a size that allows the data measurement unit 50 to move slightly. Since there is a margin, the orientation of the data measuring unit 50 and the direction of the interference avoiding unit 30 are shifted by pressing the plane 52 provided with the data measuring unit 50 and the surface of the calibration jig 10 under force control. Can be eliminated. That is, when the contact surface 54 and the surface of the calibration jig 10 are in surface contact, the interference avoiding unit 30 and the data measuring unit 50 do not interfere with each other. And the attitude | position data of the manipulator 40 in the state which eliminated the shift | offset | difference of the attitude | position of the data measurement part 50 and the direction of the interference avoidance part 30 are measured.

  (B) Next, the manipulator 40 moves the data measuring unit 50 above the calibration mark 32a to control the posture of the posture data measured previously. Then, the manipulator 40 starts insertion into the calibration mark 30a in the posture based on the posture data, and moves the data measuring unit 50 downward while performing force control using a force sensor (not shown) provided in the manipulator 40, Fit to the calibration mark 32a. At this time, the manipulator 40 maintains the posture based on the posture data previously measured, and the posture of the data measurement unit 50 at the start of insertion is not greatly deviated from the direction of the calibration mark 32a. The data measuring unit 50 can be inserted to the end without entering a state. When the data measuring unit 50 is inserted to the end, the positions in the X and Y directions are constrained because the data measuring unit 50 and the calibration mark 32a are fitted. The position in the Z direction is constrained by the contact between the flat surface 52 provided with the data measuring unit 50 and the surface of the calibration jig 10. When the positions in the X, Y, and Z directions are constrained, the position data of the tip position of the calibration mark 32a is measured. Similar to the position data measurement performed at the calibration mark 32a, the position data of the calibration marks 32b and 32c provided at the other two positions are also measured.

  (C) Next, the work orthogonal coordinate system is calculated and set from the measured position data of the three calibration marks 32a, 32b, and 32c using a known three-point measurement method.

  Through the above steps, the position data of the three points and the work orthogonal coordinate system of the robot apparatus based on the position data are set, and the operation of the robot apparatus is controlled using this work orthogonal coordinate system.

  According to the calibration method using the workpiece setting table according to the fourth embodiment, the robot apparatus performs calibration on the workpiece setting table 20 that actually performs the work on the target workpiece. Is on the workpiece setting table 20, and even if the processing accuracy of the work table or workpiece setting table 20 on which the target workpiece is set is low, there is no problem. In addition, since the robot apparatus operates near the origin of the set work Cartesian coordinates, the error of the set coordinate axis is less likely to be a problem.

  In addition, according to the calibration method using the workpiece setting table according to the fourth embodiment, it is possible to obtain high-accuracy three-point position data using the workpiece setting table 20, so that the workpiece orthogonal coordinates with high accuracy are obtained. A system can be obtained.

  Further, according to the calibration method using the workpiece setting table according to the fourth embodiment, the position data of three points can be obtained using the workpiece setting table 20, so that the calibration space can be used as a work table or the like. It is not necessary to secure the layout, and the layout design considering the reach of the manipulator 40 is not required.

  Further, according to the calibration method using the work setting table according to the fourth embodiment, the position data is obtained by fitting the data measuring unit 50 and the calibration marks 32a, 32b, and 32c by force control instead of visual observation. Therefore, there is no individual difference in the obtained data, and highly accurate measurement can be realized with good reproducibility.

  Moreover, according to the calibration method using the workpiece installation base according to the fourth embodiment, the manipulator 40 acquires the posture data at the time of measurement of the manipulator 40 by the interference avoidance unit in advance, so that the manipulator 40 can use the calibration marks 32a and 32b. , 32c, the posture at the start of insertion is not greatly deviated, so that the success rate of insertion by force control is increased and the time required for insertion can be shortened without becoming a squeezed state.

(Fifth embodiment)
As shown in FIG. 6, the calibration jig 10 according to the fifth embodiment of the present invention includes calibration marks 34a, 34b, and 34c as compared with the calibration jig 10 according to the first embodiment. The difference is the pin shape. The data measuring unit 50 that is held at the tip of the manipulator 40 or fixed to the tip is also pin-shaped like the calibration marks 34a, 34b, and 34c. Others are substantially the same, and thus redundant description is omitted.

  The data measurement unit 50 and the calibration marks 34a, 34b, and 34c are pin-shaped, but various shapes can be adopted for the tip portion. As specific examples, the tip shapes of the data measuring unit 50 and the calibration marks 34a, 34b, and 34c are shown in FIGS. The data measuring unit 50 and the calibration mark 34 shown in FIG. 7A have a sharp tip. The data measuring unit 50 and the calibration mark 34 shown in FIG. 7B have a shape having a flat surface at the tip. The data measuring unit 50 and the calibration mark 34 shown in FIG. 7C are formed of a concave shape and a convex shape that are shapes that can be fitted to each other at the tip. The data measurement unit 50 and the calibration mark 34 shown in FIG. 7D have a sharp shape with a rounded tip than the shape shown in FIG.

  The data measurement unit 50 and the calibration marks 34a, 34b, and 34c are not limited to the combinations shown in FIGS. For example, as a combination of the data measuring unit 50 and the calibration marks 34a, 34b, and 34c, a combination in which one tip has a sharp shape and the other tip has a spherical shape or a combination in which each tip has a spherical shape. As described above, the shapes shown in FIGS. 7A to 7D may be used in various combinations.

  The calibration method using the calibration jig 10 according to the fifth embodiment will be described below.

  (A) First, as shown in FIG. 6, the fitting unit 12 and the workpiece installation unit 22 having a shape that can be fitted to the workpiece installation unit 22 of the workpiece installation table 20 on which the target workpiece that is a work target of the robot apparatus is installed. And the calibration jig 10 is installed on the work installation table.

  (B) Next, the tip of the pin-shaped data measuring unit 50 is brought close to the tip of the pin-shaped calibration mark 34a. Position data is measured in a state where the tips of the data measuring unit 50 and the calibration mark 34a are close to each other. Similar to the position data measurement performed at the calibration mark 34a, the position data of the calibration marks 34b and 34c provided at the other two positions are also measured.

  (C) Next, the workpiece orthogonal coordinate system is calculated and set from the measured position data of the three calibration marks 34a, 34b, and 34c using a known three-point measurement method.

  Through the above steps, the position data of the three points and the work orthogonal coordinate system of the robot apparatus based on the position data are set, and the operation of the robot apparatus is controlled using this work orthogonal coordinate system.

  According to the calibration method using the calibration jig according to the fifth embodiment, the robot apparatus performs calibration on the workpiece setting table 20 that actually performs the work on the target workpiece. Is on the workpiece setting table 20, and even if the processing accuracy of the work table or workpiece setting table 20 on which the target workpiece is set is low, there is no problem. In addition, since the robot apparatus operates near the origin of the set work Cartesian coordinates, the error of the set coordinate axes is less likely to be a problem.

  Further, according to the calibration method using the calibration jig according to the fifth embodiment, it is possible to obtain highly accurate three-point position data using the calibration jig 10, so that the work orthogonal coordinates with high precision can be obtained. A system can be obtained.

  Further, according to the calibration method using the calibration jig according to the fifth embodiment, the position data of three points can be obtained using the calibration jig 10, so that the space for calibration can be used as a work table or the like. It is not necessary to secure the layout, and the layout design considering the reach of the manipulator 40 is not required.

  In addition, according to the calibration method using the calibration jig according to the fifth embodiment, the robot apparatus is inexpensive by performing the work of bringing the tips of the data measurement unit 50 and the calibration mark 34 close to each other. Position data can be measured with a simple configuration.

  Further, according to the calibration method using the calibration jig according to the fifth embodiment, there is no failure in insertion due to force control, etc., and even a worker who has received a simple education can use the data measuring unit 50 and the calibration mark. The calibration operation can be surely performed by the operation of bringing the tips of 34 close to each other.

(Sixth embodiment)
As shown in FIG. 8, the workpiece setting table 20 according to the sixth embodiment of the present invention has calibration marks 34a, 34b, 34c as compared with the workpiece setting table 20 according to the second embodiment. The difference is the pin shape. The data measuring unit 50 that is held at the tip of the manipulator 40 or fixed to the tip is also pin-shaped like the calibration marks 34a, 34b, and 34c. Others are substantially the same, and thus redundant description is omitted.

  The data measurement unit 50 and the calibration marks 34a, 34b, and 34c are pin-shaped, but various shapes can be adopted for the tip portion. As specific examples, the tip shapes of the data measuring unit 50 and the calibration marks 34a, 34b, and 34c are shown in FIGS. The data measuring unit 50 and the calibration mark 34 shown in FIG. 7A have a sharp tip. The data measuring unit 50 and the calibration mark 34 shown in FIG. 7B have a shape having a flat surface at the tip. The data measuring unit 50 and the calibration mark 34 shown in FIG. 7C are formed of a concave shape and a convex shape that are shapes that can be fitted to each other at the tip. The data measurement unit 50 and the calibration mark 34 shown in FIG. 7D have a sharp shape with a rounded tip than the shape shown in FIG.

  The data measurement unit 50 and the calibration marks 34a, 34b, and 34c are not limited to the combinations shown in FIGS. For example, as a combination of the data measuring unit 50 and the calibration marks 34a, 34b, and 34c, a combination in which one tip has a sharp shape and the other tip has a spherical shape or a combination in which each tip has a spherical shape. As described above, the shapes shown in FIGS. 7A to 7D may be used in various combinations.

  Below, the calibration method using the workpiece | work installation stand 20 which concerns on 6th Embodiment is demonstrated.

  (A) First, the tip of the pin-shaped data measuring unit 50 is brought close to the tip of the pin-shaped calibration mark 34a. Position data is measured in a state where the tips of the data measuring unit 50 and the calibration mark 34a are close to each other. Similar to the position data measurement performed at the calibration mark 34a, the position data of the calibration marks 34b and 34c provided at the other two positions are also measured.

  (B) Next, the workpiece orthogonal coordinate system is calculated and set from the measured position data of the three calibration marks 34a, 34b, and 34c using a known three-point measurement method.

  Through the above steps, the position data of the three points and the work orthogonal coordinate system of the robot apparatus based on the position data are set, and the operation of the robot apparatus is controlled using this work orthogonal coordinate system.

  According to the calibration method using the workpiece setting table according to the sixth embodiment, the robot apparatus performs calibration on the workpiece setting table 20 that actually performs the work on the target workpiece. Is on the workpiece setting table 20, and even if the processing accuracy of the work table or workpiece setting table 20 on which the target workpiece is set is low, there is no problem. In addition, since the robot apparatus operates near the origin of the set work Cartesian coordinates, the error of the set coordinate axis is less likely to be a problem.

  Further, according to the calibration method using the workpiece setting table according to the sixth embodiment, it is possible to obtain highly accurate three-point position data using the workpiece setting table 20, so that the workpiece orthogonal coordinates with high accuracy are obtained. A system can be obtained.

  Further, according to the calibration method using the workpiece setting table according to the sixth embodiment, the position data of three points can be obtained using the workpiece setting table 20, so that the calibration space can be used as a work table or the like. It is not necessary to secure the layout, and the layout design considering the reach of the manipulator 40 is not required.

  Further, according to the calibration method using the workpiece setting table according to the sixth embodiment, the robot apparatus is inexpensive because the work of bringing the data measurement unit 50 and the calibration mark 34 close to each other is visually performed. Position data can be measured with a simple configuration.

  Further, according to the calibration method using the workpiece setting table according to the sixth embodiment, there is no failure in insertion due to force control, etc., and even a worker who has received a simple education can use the data measuring unit 50 and the calibration mark. The calibration operation can be surely performed by the operation of bringing the tips of 34 close to each other.

(Other embodiments)
As described above, the present invention has been described according to the embodiment. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques should be apparent to those skilled in the art.

  For example, in the first to fourth embodiments, it has been described that the data measurement unit 50 measures the position data by fitting the pin-shaped and hole-shaped calibration marks 32a, 32b, and 32c. Any other mode may be used. Specifically, when the data measuring unit 50 has a hole shape, the calibration marks 32a, 32b, and 32c have a pin shape that can be fitted to the hole-shaped data measuring unit 50.

  Further, in the third and fourth embodiments, it has been described that the data measuring unit 50 measures the attitude data of the manipulator 40 by inserting the pin into the hole-shaped interference avoiding unit 30 in FIG. As long as it is possible to bring the contact surface 54 and the surface of the calibration jig 10 into surface contact with each other, other modes may be used. Specifically, when the data measurement unit 50 has a hole shape, the interference avoidance unit 30 has a planar shape with a width to which the contact surface 54 provided in the data measurement unit 50 is pressed.

  Further, in the third and fourth embodiments, the manipulator 40 for measuring position data is pressed by force-controlling the contact surface 54 provided in the data measuring unit 50 and the surface of the calibration jig 10. Although the posture data is measured, the posture data of the manipulator 40 can also be measured by measuring the distance between the manipulator 40 and the work installation table using an optical device such as a laser and a camera.

  In the first to sixth embodiments, the data measuring unit 50 is described as one, but the position data may be measured collectively as two or three.

  Thus, it should be understood that the present invention includes various embodiments and the like not described herein. Therefore, the present invention is limited only by the invention specifying matters in the scope of claims reasonable from this disclosure.

DESCRIPTION OF SYMBOLS 10 ... Calibration jig | tool 12 ... Fitting part 20 ... Work installation stand 22 ... Work installation part 30 ... Interference avoidance part 32a, 32b, 32c ... Calibration mark 34 ... Calibration mark 34a, 34b, 34c ... Calibration mark 40 ... Manipulator 50 ... Data measurement unit 52 ... Plane 54 ... Plate surface

Claims (11)

A fitting portion having a shape that can be fitted to a workpiece setting portion of a workpiece setting table for setting a target workpiece that is a work target of the robot apparatus;
Calibration marks provided at three locations as position data measurement locations for setting a workpiece Cartesian coordinate system by a three-point measurement method, and fitting the fitting portion and the workpiece setting portion together to set the workpiece A calibration jig which is installed on a table and enables measurement of the position data on the workpiece installation table.   2. The calibration mark is fitted to such an extent that a data measuring unit held by a manipulator tip of the robot apparatus or fixed to the tip cannot be moved relatively. The calibration jig described.   The comparison according to claim 2, further comprising an interference avoiding unit having a function of avoiding interference with the data measuring unit when a surface on which the data measuring unit is provided comes into surface contact. Correct jig.   The calibration jig according to claim 3, wherein a gap is formed between the interference avoiding unit and the data measuring unit to such an extent that the data measuring unit can move relatively.   The calibration mark has a pin shape, and the position data is measured by bringing the tip of a data measurement unit fixed to the tip of the manipulator of the robot apparatus close to the tip. The calibration jig according to claim 1. A workpiece setting unit for setting a target workpiece that is a work target of the robot apparatus;
Calibration points provided at three locations in the vicinity of the workpiece installation section as measurement locations of position data for setting a workpiece orthogonal coordinate system by a three-point measurement method, and the position in the vicinity of the workpiece installation section Work setting stand that enables measurement of data. The calibration jig is installed on the workpiece installation table by fitting the workpiece installation unit with the fitting unit having a shape that can be fitted to the workpiece installation unit of the workpiece installation table on which the target workpiece that is the work target of the robot apparatus is installed. And a process of
Position data of calibration marks provided at three locations of the calibration jig as measurement locations for setting a work Cartesian coordinate system by a three-point measurement method are gripped by the manipulator tip of the robot apparatus, or the tip Measuring with a data measuring unit fixed to the unit,
And a step of setting a work orthogonal coordinate system from the position data at three locations. Position data of calibration marks provided at three locations in the vicinity of the workpiece installation section where the target workpiece that is the work target of the robot apparatus is installed as the location data measurement location for setting the workpiece orthogonal coordinate system by the three-point measurement method Is measured by a data measuring unit that is gripped by or fixed to the tip of the manipulator of the robot apparatus,
And a step of setting a work orthogonal coordinate system from the three pieces of position data.   9. The calibration method according to claim 7, wherein the step of measuring by the data measuring unit measures the position data by fitting the data measuring unit to the calibration mark by force control. Before the step of measuring by the data measuring unit,
Inserting the data measuring unit into an interference avoiding unit having a function of avoiding interference with the data measuring unit, and measuring posture data of the manipulator when the surface provided with the data measuring unit is in surface contact Including
10. The method according to claim 7, wherein in the step of measuring by the data measuring unit, the manipulator starts insertion into the calibration mark in a posture based on the posture data, and measures the position data. 2. The calibration method according to item 1.   The step of measuring by the data measuring unit is characterized in that the calibration mark has a pin shape, and the position data is measured by bringing the tip of the data measuring unit close to the tip of the calibration mark. The calibration method according to claim 7 or 8.

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