JP3448413B2 - Coordinate correction device for horizontal articulated robot - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinate correcting apparatus for a horizontal articulated robot, and more particularly, to a horizontal articulated robot capable of correcting palletizing coordinates (hereinafter referred to as palletizing points) with high accuracy. The present invention relates to a coordinate correction device.

[0002]

2. Description of the Related Art Conventionally, in a horizontal articulated robot, a dimensional error when designing an arm affects positioning accuracy. Therefore, when teaching a palletizing point, a desired mechanical constant is used to correct the arm error. ing.

On the other hand, palletizing points are taught to reduce such an error, but it takes time and labor to perform all the teaching operations by teaching. Therefore, an arbitrary palletizing point is actually taught from all the palletizing points, and the remaining palletizing points are calculated from the palletizing points taught by the teaching, and finally all the palletizing points are taught.

As a technique for teaching such palletizing points, the technique described in Japanese Patent Laid-Open No. 64-72205 is known. In such a conventional technique, arbitrary 4 points are selected as a reference palletizing point, and these 4 points are taught by teaching. Then, other palletizing points are calculated from the above four points. Normally, for example, all palletizing points are calculated with reference to the arbitrary three points, which are the origin, the final point in a certain direction from the origin, and the final point in the other direction from the origin. One more point is provided in the diagonal direction of the two directions to improve the accuracy of error correction.

[0005]

However, according to the above-mentioned prior art, although the accuracy of calculation is improved by increasing the number of teaching palletizing points by teaching, the accuracy of correction of all palletizing points is improved, but the palletizing by teaching is performed. There was a problem that increasing the number of teaching points would require more time and labor. Especially, when there are many palletizing parts, such a problem becomes remarkable.

The present invention has been made in view of the above, and an object of the present invention is to improve the correction accuracy of the palletizing point without spending time and labor.

[0007]

In order to achieve the above object, a coordinate correcting apparatus for a horizontal articulated robot according to a first aspect of the present invention uses position data of palletizing points stored as position data in an orthogonal coordinate system, In the coordinate correction device of the horizontal articulated robot, which corrects the error caused by the specifications of the horizontal articulated robot when the position data of the joint coordinate system is converted using the mechanical constants, the correct position of the palletizing point is calculated. Palletizing point position detecting means for automatically detecting, palletizing point position data storing means for storing position data of palletizing points detected by the palletizing point position detecting means, and a plurality of palletizing point stored in the palletizing point position data storing means. A mechanical constant calculation means for calculating a plurality of mechanical constants using position data, and a palletizer using the mechanical constants. Palletizing point correcting means for correcting position data of the palletizing point, and palletizing point for comparing the palletizing point position data corrected by the palletizing point correcting means with the correct palletizing point position data detected by the palletizing point position detecting means. Position data comparison means,
A machine that selects, as an optimum machine constant, a mechanical constant that minimizes the error between the corrected palletizing point position data and the correct palletizing point position data based on the result of the comparative evaluation by the palletizing point position data comparing means. A constant selecting means is provided, and the position data of the palletizing point is corrected using the optimum mechanical constant.

That is, by first automatically detecting the correct palletizing point and comparing it with the palletizing point actually calculated, it is possible to determine how much error has occurred. Therefore, if the error is further prospered to the mechanical constant used for the calculation, the correction accuracy is further improved. Therefore, a plurality of mechanical constants are obtained, and as a result of the comparison, the mechanical constant with the smallest error is adopted as the optimum mechanical constant.

Specifically, first, the palletizing point position detecting means automatically detects the correct palletizing point positions for all palletizing points, and then the position data of any of the palletizing points is also detected. And the position data of all palletizing points are calculated. In the calculation of this position data, a unique mechanical constant is used to correct the error caused by the robot specifications. To obtain this mechanical constant, for example, Precision Machinery Vol. 49, No. 9 (sara)
Calibration of Robot Specifications by Teaching: Nobuyuki Furuya, Hiroshi Makino: September 1983)
The point measurement method is used. Multiple mechanical constants are obtained by changing the position data to be measured.

Then, the correct palletizing point is compared with the calculated palletizing point. In other words, it evaluates how much error has occurred with respect to the correct palletizing point. Then, if this is performed for the palletizing points related to each machine constant, the machine constant with which the error is minimized can be naturally understood. Therefore, if the mechanical constant that minimizes this error is optimally selected as the mechanical constant, the accuracy of correcting the error at the palletizing point can be improved. On the other hand, the automatic detection of the position of the correct palletizing point is performed by, for example, CC
Since it is automatically performed using a D camera, work time and labor are not required.

According to a second aspect of the present invention, in the coordinate correcting apparatus for a horizontal articulated robot, the position data of the palletizing point stored as the position data in the Cartesian coordinate system is converted into the position data in the joint coordinate system using the mechanical constant. In the coordinate correction device of the horizontal articulated robot that corrects the error caused by the specifications of the horizontal articulated robot, the palletizing point position detecting means for automatically detecting the correct position of the palletizing point, and the palletizing point. From palletizing point position data storage means for storing the position data of the palletizing points detected by the position detecting means and position data of a plurality of palletizing points stored in the palletizing point position data storing means, a palletizing point of any palletizing point is detected using a neuro. The position data is extracted, and a plurality of mechanical constants are calculated from the extracted position data. Anda mechanical constant calculating means for selecting the optimum machine constants from is to correct the position data of the palletizing point using the optimum machine constants.

For example, if the mechanical constant is obtained by the above-mentioned three-point measuring method, it is necessary to select any three points from the palletizing points. However, there are many combinations of these three points. Therefore, we selected the optimum mechanical constant using a neuron from the mechanical constants based on these many combinations. Therefore, the accuracy of correcting the error at the palletizing point is further improved.

According to a third aspect of the coordinate correcting apparatus for a horizontal articulated robot, the position data of the palletizing point stored as the position data in the Cartesian coordinate system is converted into the position data in the joint coordinate system by using the mechanical constant. In the coordinate correction device of the horizontal articulated robot that corrects the error caused by the specifications of the horizontal articulated robot, the palletizing point position detecting means for automatically detecting the correct position of the palletizing point, and the palletizing point. Teaching any one of the palletizing points and the palletizing point position data storing means that stores the palletizing point position data detected by the position detecting means, and calculate the machine constants at each palletizing point from the palletizing point position data. Mechanical constant calculation means and position data of palletizing points using the mechanical constants And palletizing point correction means for correcting,
Palletizing point position data comparing and evaluating means for comparing and evaluating the palletizing point position data after correction by the palletizing point correcting means and the correct palletizing point position data detected by the palletizing point position detecting means, and the palletizing point position data Mechanical constant selection means for selecting, as optimum machine information, a mechanical constant that minimizes the error between the corrected palletizing point position data and the correct palletizing point position data based on the result of the comparative evaluation by the comparative evaluation means. , Corrected palletizing point calculation in which any three or four points among the palletizing points are taught as reference points by teaching, and the position data of all the palletizing points are calculated from the position data of the reference points using the mechanical constants. Means and the palletizing points calculated by the corrected palletizing point calculating means. Correction coefficient calculation means for calculating a geometric correction coefficient of a palletizing point using position data and correct position data of the palletizing point, and geometrically correcting the position data of the palletizing point using the geometric correction coefficient. Is.

In other words, the position data of the palletizing points calculated by the mechanical constants selected in claim 1 is used, and the position data of the palletizing points is further geometrically corrected using the geometric correction coefficient. By doing so, it is possible to further improve the correction accuracy of the palletizing point.

According to a fourth aspect of the present invention, there is provided a coordinate correcting apparatus for a horizontal articulated robot, wherein the palletizing point position detecting means is the coordinate correcting apparatus for a horizontal articulated robot according to any one of the first to third aspects. A plurality of them are provided.

Therefore, the optimum mechanical constant or geometrical correction coefficient can be given to each part in the operation area of the robot, and the correction accuracy of the palletizing point in the entire operation area of the robot is improved.

According to a fifth aspect of the present invention, there is provided a coordinate correcting apparatus for a horizontal articulated robot according to any one of the first to fourth aspects, wherein the palletizing point position detecting means is The teaching jig has a palletizing point, and the teaching tool is provided with an auto tool changer.

By providing this auto tool changer, the teaching jig can be easily and highly accurately installed at a predetermined installation position. Therefore, the work is simplified and the palletizing point correction accuracy is also improved.

According to a sixth aspect of the present invention, there is provided a coordinate correcting device for a horizontal articulated robot according to any one of the first to fourth aspect, wherein the teaching jig is palletized. Positioning is performed using a component supply device.

Thus, the teaching jig can be easily and highly accurately installed at the predetermined installation position. Therefore, the work is simplified and the palletizing point correction accuracy is also improved.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION A coordinate correcting apparatus for a horizontal articulated robot according to the present invention will be described below with reference to [Embodiment 1], [Embodiment 2], [Embodiment 3], [Embodiment 4] and [Others]. Embodiment] will be described in detail with reference to the drawings. The present invention is not limited to these embodiments.

[Embodiment 1] FIG. 1 is a block diagram showing a coordinate correcting apparatus for a horizontal articulated robot which is Embodiment 1 of the present invention. The horizontal articulated robot 1000 includes a coordinate correction device 100, a conversion unit T that converts position data of palletizing points in a Cartesian coordinate system into position data of palletizing points in a joint coordinate system, and correction that corrects position data of palletizing points. It has a section C and a manipulator section R having a first arm R1 and a second arm R2. The first arm R1 is connected to the first servo mechanism S
1, the second arm R2 is driven by the second servo mechanism S2.

The coordinate correcting apparatus 100 comprises a palletizing point position detecting section 1, a palletizing point position data storing section 2, a mechanical constant calculating section 3, a palletizing point correcting section 4, a palletizing point position data comparing section 5, and a machine. A constant selection unit 6 and a teaching jig 7 are provided.

The teaching jig 7 has a palletizing area A.
Twenty-five markings M (M1 to M25) are provided in 5 rows and 5 columns as palletizing points on the surface.

The palletizing point position detecting section 1 comprises a CCD camera 11 provided at the end of the second arm R2 and a position detecting section 12 for detecting the position of the marking M by the CCD camera 11. The palletizing point position data storage unit 2 is composed of, for example, a RAM. Machine constant selection section 6
Is composed of a selection unit 61 and a storage unit 62.

FIG. 2 is a flow chart showing the operation of the coordinate correction device 100. In step S201, the palletizing point position detector 1 moves the CCD camera 11 at the end of the manipulator R to above the marking M,
The position of this marking M is detected. This is done for all 25 markings M.

In step S202, the palletizing point position data storage unit 2 stores the palletizing point position data detected by the palletizing point position detecting unit 1. In step S203, the mechanical constant calculation unit 3 obtains the position data of the three palletizing points in the first, third, and fifth columns of each row from the palletizing point position data storage unit 2, and the mechanical constant B is measured by the above-described three-point measuring method. Ask for. Here, it is assumed that five sets of mechanical constants B, B1 to B5, are obtained.

In step S204, the palletizing point correcting unit 4 first corrects the position data of all palletizing points using the mechanical constant B. This correction is performed for all five sets of machine constants B1 to B5.

Specifically, first, position data of palletizing points (M1, M5, M21, M25) at four corners of all palletizing points is acquired from the palletizing point position data storage unit 2, and the remaining palletizing points are acquired. The position data of is calculated. At this time, the mechanical constant B is used to correct the position data. If this is performed for each machine constant B1 to B5, position data of all palletizing points can be obtained for each machine constant B1 to B5 (position data P1 to P5). FIG. 3 shows a conceptual diagram thereof.

On the other hand, the palletizing point position data storage unit 2 does not store the calculated position data but the actual CC
Correct position data Pr detected using the D camera 11 is stored for each individual palletizing point.

The palletizing point position data comparing section 6 compares the correct palletizing point position data Pr with the calculated palletizing point position data P1, respectively. The position data P2 to P5 are similarly compared. FIG. 4 shows a conceptual diagram. The white dots indicate the correct palletizing points, and the black dots indicate the palletizing points when corrected using the mechanical constants. The error between the white point and the black point is the error to be corrected.

As a result of comparison, the position data (position data P1
To any of P5) mechanical constants (position data P1)
The mechanical constants B1 to B5) corresponding to any one of P5 to P5 are selected by the mechanical constant selection unit 6. The selected mechanical constant is stored in the storage unit 62 as the optimum mechanical constant Bb.

In step S205, the optimum mechanical constant B
Since b has been determined, three or four palletizing points are taught as usual, and position data of all palletizing points is calculated.

In step S206, the correction section C
The position data of the palletizing point obtained by this calculation is corrected using the mechanical constant Bb.

In step S207, the corrected position data of the palletizing point is finally taught.

As described above, according to the coordinate correcting apparatus 100 of the present invention, a plurality of machine constants are obtained in advance, and the machine constant that minimizes the error is selected as the optimum machine constant. The accuracy of correcting the error caused by the original is improved. Moreover, since the automatic detection of the correct palletizing point position is automatically performed by using the CCD camera 11 or the like, the working time and labor are not required.

[Embodiment 2] FIG. 5 is a block diagram showing a coordinate correcting apparatus for a horizontal articulated robot which is Embodiment 2 of the present invention. The horizontal articulated robot 2000 includes a coordinate correction device 200, a conversion unit T that converts position data of palletizing points in a Cartesian coordinate system into position data of palletizing points in a joint coordinate system, and correction that corrects position data of palletizing points. It has a section C and a manipulator section R having a first arm R1 and a second arm R2. The first arm R1 is connected to the first servo mechanism S
1, the second arm R2 is driven by the second servo mechanism S2.

The coordinate correcting device 200 comprises a palletizing point position detecting section 1, a palletizing point position data storing section 2, a mechanical constant calculating section 201, and a teaching jig 7.
The teaching jig 7 is installed in the palletizing area A, and 25 markings M are arranged in 5 rows and 5 columns as palletizing points on the surface thereof.

The palletizing point position detecting section 1 comprises a CCD camera 11 provided at the end of the second arm R2 and a position detecting section 12 for detecting the position of the marking M by the CCD camera 11. The palletizing point position data storage unit 2 is composed of, for example, a RAM.

FIG. 6 is a flow chart showing the operation of the coordinate correction device 200. In step S601, the palletizing point position detector 1 moves the CCD camera 11 at the end of the manipulator R to above the marking M,
The position of this marking M is detected. This is done for all 25 markings M.

In step S602, the palletizing point position data storage unit 2 stores the palletizing point position data detected by the palletizing point position detecting unit 1.

In step S603, the mechanical constant calculator 2
With 01, 2300 combinations of arbitrary 3 points out of 25 palletizing points are used as teaching signals, teaching position data of 3 points are input, and machine constants are output and learned using a neuron, and an optimum mechanical constant Bb is obtained. Ask.

In step S604, the optimum mechanical constant B
Since b has been determined, three or four palletizing points are taught as usual, and position data of all palletizing points is calculated.

In step S605, the correction unit C
The position data of this palletizing point is corrected using the mechanical constant Bb.

In step S606, the corrected position data of the palletizing point is finally taught.

As described above, according to the coordinate correcting apparatus 200 of the present invention, since the learning is performed by using the neuron and the optimum mechanical constant is obtained, the accuracy of correcting the error caused by the specifications of the robot is improved. Also, automatic detection of the correct palletizing point position is
Since it is automatically performed using the CD camera 11 or the like, it does not require working time or labor.

[Third Embodiment] FIG. 7 is a block diagram showing a coordinate correcting apparatus for a horizontal articulated robot according to a third embodiment of the present invention. The horizontal articulated robot 3000 includes a coordinate correction device 300, a conversion unit T that converts the palletizing point position data of the Cartesian coordinate system into the palletizing point position data of the joint coordinate system, and a correction unit that corrects the palletizing point position data. It has a section C and a manipulator section R having a first arm R1 and a second arm R2. The first arm R1 is connected to the first servo mechanism S
1, the second arm R2 is driven by the second servo mechanism S2.

The coordinate correcting device 300 comprises a palletizing point position detecting section 1, a palletizing point position data storing section 2, a mechanical constant calculating section 301, and a teaching jig 7.
The teaching jig 7 is installed in the palletizing area A, and 25 markings M are arranged in 5 rows and 5 columns as palletizing points on the surface thereof.

The palletizing point position detecting section 1 comprises a CCD camera 11 provided at the end of the second arm R2 and a position detecting section 12 for detecting the position of the marking M by the CCD camera 11. The palletizing point position data storage unit 2 is composed of, for example, a RAM.

FIG. 8 is a flow chart showing the operation of the coordinate correction device 300. In step S801, the palletizing point position detection unit 1 moves the CCD camera 11 at the end of the manipulator unit R to above the marking M,
The position of this marking M is detected. This is done for all 25 markings M.

In step S802, the palletizing point position data storage unit 2 stores the palletizing point position data detected by the palletizing point position detecting unit 1.

In step S803, the mechanical constant calculator 3
In accordance with 01, the higher order distortion of the robot coordinates is approximated and corrected by, for example, a fourth-order polynomial, using the correct position data Pr of the palletizing point and the position data P of the calculated palletizing point. The equation shown in Equation 1 is used as the correction equation.

[0053]

[Equation 1]

In Equation 1, the right side has nine terms (FIG. 9). The position data (coordinates x, y) of the palletizing point obtained by calculation is substituted for the right side, and the correct palletizing point position data is substituted for the left side. From this, 9 simultaneous equations are set up and the geometrical correction coefficients a and b are solved by solving them.
(= Mechanical constant Bb) is calculated.

In step S804, since the mechanical constant Bb has been determined, three or four palletizing points are taught as usual.

In step S805, position data of all palletizing points is obtained by calculation.

In step S806, the correction unit C
The position data of this palletizing point is corrected using the mechanical constant Bb.

In step S807, the corrected position data of the palletizing point is finally taught.

As described above, according to the coordinate correcting apparatus 300 of the present invention, since the error is corrected by using the geometric correction coefficient, the accuracy of correcting the error caused by the robot specifications is improved. Further, this geometrical correction can be applied to various distortions, and if the correction is performed by using the reference points having an appropriate distribution, the correction can be performed with higher accuracy. Moreover, since the automatic detection of the correct palletizing point position is automatically performed by using the CCD camera 11 or the like, the working time and labor are not required.

If the number of position data to be substituted is increased and the order of the geometric correction formula is increased, higher-order distortion can be dealt with. Further, if 25 simultaneous equations are set and the geometric correction coefficient is obtained by the method of least squares, it is not necessary to select a reference point having an appropriate distribution, and the geometric correction coefficient more suitable for the palletizing area can be obtained. Therefore, the accuracy of error correction is further improved.

[Embodiment 4] In this Embodiment 4, using the position data of the palletizing points calculated by the mechanical constants selected in the above Embodiment 1,
The geometric correction coefficient in the third embodiment is used for the calculation.

FIG. 10 is a flow chart showing the operation of the coordinate correction device in the fourth embodiment. Note that step S100
Since steps 1 to S1004 are the same as steps S201 to S204 of the first embodiment, the description thereof will be omitted.

In step S1005, step S10
The position data P of the palletizing point is calculated by using the optimum mechanical constant selected in 04. Using this position data P and the position data Pr of the correct palletizing point, the higher-order distortion of the robot coordinates is approximated and corrected by, for example, a quartic polynomial. The equation shown in Equation 2 is used as the correction equation.

[0064]

[Equation 2]

In Equation 2, each of the right sides has 9 terms (FIG. 9). The calculated palletizing point position data (coordinates x, y) is substituted on the right side, and the correct palletizing point position data is substituted on the left side. From this, 9 simultaneous equations are set up and the geometrical correction coefficient a,
Find b (= mechanical constant Bb).

In step S1006, since the mechanical constant Bb has been determined, three or four palletizing points are taught as usual.

In step S1007, position data of all palletizing points is obtained by calculation.

In step S1008, the correction unit C corrects the position data of this palletizing point using the mechanical constant Bb.

In step S1009, the corrected position data of the palletizing point is finally taught.

As described above, according to the coordinate correction device of the present invention,
Since the position data of the palletizing points calculated by the mechanical constants selected in the first embodiment is used and the geometric correction coefficient in the third embodiment is used, the accuracy of error correction due to robot specifications is improved. To do. The automatic detection of the correct palletizing point position is performed by the CCD camera 1.
Since it is automatically performed using 1 etc., it does not take work time or labor.

Other Embodiments As another embodiment, for example, as shown in FIG.
An automatic tool changer (AHC) 71 is attached to the teaching jig 7.
By providing, the teaching jig can be easily and accurately installed at a predetermined installation position. Therefore, the work is simplified and the palletizing point correction accuracy is also improved.

Further, the teaching jig 7 may be positioned by using a palletizing component supply device (not shown). As a result, the teaching jig can be easily and accurately installed at the predetermined installation position. Therefore, the work is simplified and the palletizing point correction accuracy is also improved.

[0073]

As described above, according to the coordinate correcting apparatus for a horizontal articulated robot of the present invention (claim 1), a correct palletizing point is automatically detected at first and then actually calculated. By comparing the palletizing point with the error, the amount of error is discriminated, and the error is further prospered to the mechanical constant used for the calculation, so that the correction accuracy is improved. Further, since a plurality of machine constants are obtained and the machine constant that minimizes the error as a result of the comparison is adopted as the optimum machine constant, the correction accuracy of the palletizing point is improved without spending time and effort. be able to.

Further, according to the coordinate correcting apparatus for the horizontal articulated robot of the present invention (claim 2), the correct palletizing point is first automatically detected and compared with the palletizing point actually calculated. It is determined how much an error has occurred, and the error is further prospered by the mechanical constant used for the calculation, so that the correction accuracy is improved. Further, since a plurality of machine constants are obtained and the optimum machine constant is selected from the machine constants based on a large number of combinations by using a neuron, the accuracy of correcting the palletizing point error is further improved.

According to the coordinate correcting apparatus for a horizontal articulated robot of the present invention (claim 3), the position data of the palletizing point calculated by the machine constant selected in claim 1 is used and the geometric correction coefficient is used. Since the position data of the palletizing point is geometrically corrected by using, it is possible to further improve the correction accuracy of the palletizing point.

Further, according to the coordinate correcting apparatus for a horizontal articulated robot of the present invention (claim 4), since a plurality of the palletizing point position detecting means are provided, it is optimal for each part in the operation area of the robot. It is possible to provide various mechanical constants or geometric correction coefficients, and the correction accuracy of the palletizing points in the entire robot motion area is improved.

According to the coordinate correcting apparatus for a horizontal articulated robot of the present invention (claim 5), the palletizing point position detecting means comprises a teaching jig having palletizing points. Since the jig is equipped with an auto tool changer, it is possible to easily and accurately install the teaching jig at a predetermined installation position. Therefore, the work is simplified and the palletizing point correction accuracy is also improved.

Further, according to the coordinate correcting apparatus for the horizontal articulated robot of the present invention (claim 6), the teaching jig is positioned by using the palletizing component supply device, and therefore, it can be easily and easily installed at a predetermined installation position. The teaching jig can be installed with high accuracy. Therefore, the work is simplified and the palletizing point correction accuracy is also improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a coordinate correction device for a horizontal articulated robot that is Embodiment 1 of the present invention.

FIG. 2 is a flowchart showing an operation of the coordinate correction device in FIG.

FIG. 3 is a conceptual diagram showing position data of palletizing points corrected using each mechanical constant.

FIG. 4 is a conceptual diagram showing a comparison between a correct palletizing point and a calculated palletizing point.

FIG. 5 is a configuration diagram showing a coordinate correction device for a horizontal articulated robot that is Embodiment 2 of the present invention.

6 is a flowchart showing the operation of the coordinate correction device in FIG.

FIG. 7 is a configuration diagram showing a coordinate correction device for a horizontal articulated robot that is Embodiment 3 of the present invention.

8 is a flowchart showing the operation of the coordinate correction device in FIG.

FIG. 9 is a top view of a teaching jig.

FIG. 10 is a flowchart showing the operation of the coordinate correction device according to the fourth embodiment of the present invention.

FIG. 11 is an explanatory diagram of AHC.

[Explanation of symbols]

1000, 2000, 3000 Horizontal articulated robot 100, 200, 300 Coordinate correction device 1 Palletizing point position detection unit 2 Palletizing point position data storage unit 3, 201, 301 Mechanical constant calculation unit 4 Palletizing point correction unit 5 Palletizing point position data Comparison unit 6 Machine constant selection unit 7 Teaching jig T Conversion unit C Correction unit R Manipulator unit M (M1 to M25) Marking as palletizing points

─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 19/18-19/46 B25J 3/00-3/04 B25J 9/10-9/22 B25J 13 / 00-13/08 B25J 19/02-19/06

Claims (6)

(57) [Claims] 1. An error caused by specifications of a horizontal articulated robot when converting position data of palletizing points held as position data in an orthogonal coordinate system into position data in a joint coordinate system using a mechanical constant. A coordinate correcting apparatus for a horizontal articulated robot that corrects the palletizing point position detecting means for automatically detecting the correct position of the palletizing point, and a palletizing point for storing the palletizing point position data detected by the palletizing point position detecting means. Position data storage means, mechanical constant calculation means for respectively calculating a plurality of mechanical constants using position data of the plurality of palletizing points stored in the palletizing point position data storage means, and position of the palletizing point using the mechanical constants Palletizing point correcting means for correcting data, and the palletizing point correcting means for correcting the palletizing point Palletizing point position data comparing means for comparing the palletizing point position data with the correct palletizing point position data detected by the palletizing point position detecting means, and based on the result of the comparative evaluation of the palletizing point position data comparing means, A mechanical constant selecting means for selecting the mechanical constant that minimizes the error between the corrected palletizing point position data and the correct palletizing point position data as an optimum mechanical constant, and using the optimum mechanical constant A coordinate correction device for a horizontal articulated robot, which is characterized by correcting position data of palletizing points. 2. An error caused by specifications of a horizontal articulated robot when the position data of the palletizing point held as the position data in the Cartesian coordinate system is converted into the position data of the joint coordinate system using the mechanical constant. A coordinate correcting apparatus for a horizontal articulated robot that corrects the palletizing point position detecting means for automatically detecting the correct position of the palletizing point, and a palletizing point for storing the palletizing point position data detected by the palletizing point position detecting means. Position data storage means and position data of arbitrary palletizing points are extracted from the position data of the plurality of palletizing points stored in the palletizing point position data storing means by using a neuro, and a plurality of machines are extracted from the extracted position data. A mechanical constant calculating means for calculating a constant and selecting an optimum mechanical constant from the constant; And, coordinate correction device of a horizontal articulated robot, characterized in that to correct the position data of the palletizing point using the optimum machine constants. 3. An error caused by specifications of a horizontal articulated robot when the position data of the palletizing points held as position data in the Cartesian coordinate system is converted into the position data of the joint coordinate system by using a mechanical constant. A coordinate correcting apparatus for a horizontal articulated robot that corrects the palletizing point position detecting means for automatically detecting the correct position of the palletizing point, and a palletizing point for storing the palletizing point position data detected by the palletizing point position detecting means. Positional data storage means and mechanical constant calculation means for teaching either palletizing point by teaching and calculating mechanical constants at each palletizing point from the palletizing point position data, and palletizing point using the mechanical constants. Palletizing point correcting means for correcting position data, and the palletizing point correcting means Of the palletizing point position data comparing and evaluating means for comparing and evaluating the palletizing point position data after correction by the step and the correct palletizing point position data detected by the palletizing point position detecting means; Machine constant selecting means for selecting, as optimum machine information, a machine constant that minimizes an error between the corrected palletizing point position data and the correct palletizing point position data based on the result of the comparative evaluation, and the palletizing point. A corrected palletizing point calculating means for teaching any three or four points among these as reference points by teaching, and calculating the position data of all the palletizing points from the position data of the reference points using the mechanical constants; The palletizing point position data calculated by the corrected palletizing point calculating means and the Correction coefficient calculation means for calculating a geometric correction coefficient of the palletizing point using the correct position data of the ize point, and geometrically correcting the position data of the palletizing point using the geometric correction coefficient. Coordinate correction device for horizontal articulated robot. 4. A coordinate correction device for a horizontal articulated robot according to claim 1, wherein:
A coordinate correcting apparatus for a horizontal articulated robot, comprising a plurality of the palletizing point position detecting means. 5. The coordinate correction device for a horizontal articulated robot according to claim 1, wherein:
The coordinate correcting apparatus for a horizontal articulated robot, wherein the palletizing point position detecting means comprises a teaching jig having a palletizing point, and the teaching jig is provided with an auto tool changer. 6. The coordinate correction device for a horizontal articulated robot according to claim 1, wherein:
A coordinate correction device for a horizontal articulated robot, characterized in that the teaching jig is positioned by using a palletizing component supply device.