JP5170402B2 - Installation equipment positioning method - Google Patents
Installation equipment positioning method Download PDFInfo
- Publication number
- JP5170402B2 JP5170402B2 JP2008064280A JP2008064280A JP5170402B2 JP 5170402 B2 JP5170402 B2 JP 5170402B2 JP 2008064280 A JP2008064280 A JP 2008064280A JP 2008064280 A JP2008064280 A JP 2008064280A JP 5170402 B2 JP5170402 B2 JP 5170402B2
- Authority
- JP
- Japan
- Prior art keywords
- installation
- laser
- axis robot
- installation equipment
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
Description
本発明は、例えば、多軸ロボットの周りに複数配置され、ワークが該多軸ロボットにより搬送されて配置される各据付設備の多軸ロボットに対する据付位置の位置決め方法に関するものである。 The present invention relates to, for example, a method of positioning an installation position with respect to a multi-axis robot of each installation facility in which a plurality of arrangements are arranged around a multi-axis robot and a workpiece is transferred and arranged by the multi-axis robot.
一般に、自動車等の製造工場内には、多軸ロボットの周りに複数の据付設備が配置されており、部品等のワークが多軸ロボットにより把持されて搬送され各据付設備の所定位置に配置される。そして、ある据付設備にてワークに対して作業が行われ、作業終了後にワークが多軸ロボットにより把持されて搬送され、次の工程の据付設備の所定位置に配置される。 In general, in a manufacturing plant such as an automobile, a plurality of installation facilities are arranged around a multi-axis robot, and workpieces such as parts are gripped and transported by the multi-axis robot and arranged at predetermined positions of each installation facility. The Then, the work is performed on the workpiece at a certain installation facility, and after the operation is completed, the workpiece is gripped and transported by the multi-axis robot, and is arranged at a predetermined position of the installation facility in the next process.
多軸ロボットは、そのアームが６軸にて動作可能である。ところで、ワークは多軸ロボットのアームに把持されて搬送されるため、据付設備に配置されるワークの位置が大変重要になり、ひいては、各据付設備の多軸ロボットに対する据付位置の位置精度が大きな問題となる。 The multi-axis robot has an arm that can operate with six axes. By the way, since the work is gripped and transported by the arm of the multi-axis robot, the position of the work placed in the installation equipment becomes very important. As a result, the positional accuracy of the installation position of each installation equipment relative to the multi-axis robot is large. It becomes a problem.
そこで、従来の据付設備の位置決め方法を説明する。
まず、オフラインにおいて、シミュレーションソフトによって、多軸ロボットに対する据付設備の床面上の据付位置、すなわち、配置のための基準ラインの位置を算出する。
そして、作業者が、シミュレーション結果に基いて、製造工場の床面に、基準となる互いに直交する基準ラインをマーキングし、各基準ライン及び該各基準ラインの交差ポイントに、据付設備の対応する据付基準をそれぞれ一致させて、据付設備を据付位置に位置決めして設置していた。
しかしながら、従来の据付設備の位置決め方法では、作業者によるマーキング作業や設置される床面の状況等により、据付設備をシミュレーション結果に基いて正確に床面の据付位置に位置決めして設置することができず、実際の設置では、シミュレーション結果に対して±１．０ｍｍ程度の誤差が生じており据付位置の位置精度が非常に悪く、再現性も低い。しかも、床面へのマーキング作業を作業者の手作業で行っているために、作業効率が非常に悪い。
Therefore, a conventional method for positioning the installation equipment will be described.
First, off-line, the installation position on the floor surface of the installation equipment for the multi-axis robot, that is, the position of the reference line for the arrangement is calculated offline.
Then, based on the simulation result, the operator marks the reference lines that are orthogonal to each other on the floor of the manufacturing plant, and the installation equipment corresponding to each reference line and the intersection of each reference line is installed. The installation equipment was positioned and installed at the installation position by matching the respective standards.
However, in the conventional installation equipment positioning method, the installation equipment can be accurately positioned and installed at the installation position on the floor surface based on the simulation results, depending on the marking work by the operator and the situation of the floor surface to be installed. However, in actual installation, an error of about ± 1.0 mm is generated with respect to the simulation result, the position accuracy of the installation position is very poor, and the reproducibility is low. Moreover, since the marking work on the floor surface is performed manually by the operator, the work efficiency is very poor.
また、従来の据付設備の位置決め方法では、作業者が床面に引いた各基準ラインを基準として据付設備を据付位置に位置決めして設置しているだけで、多軸ロボットが直接把持するワークの位置を基準に据付設備の据付位置を微調整しておらず、据付設備の多軸ロボットに対する据付位置の位置精度を向上させることができない。 In addition, with the conventional installation equipment positioning method, the multi-axis robot directly grips the workpiece that the multi-axis robot directly grips by installing the installation equipment at the installation position based on each reference line drawn by the operator on the floor. The installation position of the installation equipment is not finely adjusted based on the position, and the position accuracy of the installation position relative to the multi-axis robot of the installation equipment cannot be improved.
なお、特許文献１には、施工現場において、設置物を据付けるための据付位置として三次元計測器により提示されたマークポイントＰに対して、マーキングロボットによりマーキングを行い、マーキングロボットは、台車部及び支持部により支持されたマーキング部を備えており、そのマーキング部のスタンプをマークポイントＰの位置に押し当て、その際、スタンプの先端からレーザ光線が出射されており、そのレーザ光線が照射されている位置がマークポイントＰに一致するようにスタンプの支持位置を調整することによって正確にマークポイントＰの位置にマーキングを行うことができる墨位置記録装置が開示されている。
上述したように、従来の据付設備の位置決め方法では、据付設備の多軸ロボットに対する据付位置の位置精度が悪く、さらに、据付設備を設置する際の作業効率が非常に悪かった。
また、特許文献１に開示された墨位置記録装置の発明は、その構造が非常に複雑であり、到底採用することはできない。
As described above, in the conventional installation equipment positioning method, the position accuracy of the installation position relative to the multi-axis robot of the installation equipment is poor, and the work efficiency when installing the installation equipment is very poor.
Further, the invention of the black position recording apparatus disclosed in Patent Document 1 has a very complicated structure and cannot be adopted at all.
本発明は、かかる点に鑑みてなされたものであり、据付設備を多軸ロボットに対して精度良く据付位置に位置決めして設置することができ、しかも、設置の際の作業効率を向上させる据付設備の位置決め方法を提供することを目的とする。 The present invention has been made in view of such points, and the installation facility can be positioned and installed with high accuracy with respect to the multi-axis robot, and the installation efficiency can be improved at the time of installation. It aims at providing the positioning method of an installation.
上記課題を解決するために、本発明の据付設備の位置決め方法は、多軸ロボットから、略同一平面上に拡散する第１レーザ拡散光を、互いに直交するように前記据付設備が設置される平面に向かって照射して、該平面上に互いに直交する第１レーザラインを映し出し、該各第１レーザラインに基いて、前記据付設備を据付位置に仮設置する工程と、仮設置された据付設備上にワークを配置する工程と、前記多軸ロボットから、略同一平面上に拡散する第２レーザ拡散光を、互いに直交するように前記据付設備上の前記ワークに向かって照射して、前記ワーク上に互いに直交する各第２レーザラインを映し出すと共に前記第２レーザ拡散光により前記多軸ロボットから前記ワークまでの距離を測定し、前記ワークに映し出された互いに直交する各第２レーザライン及び前記多軸ロボットから前記ワークまでの距離の測定値に基づいて、前記据付設備の据付位置を微調整して設置する工程と、を備えることを特徴としている。
これにより、据付設備を多軸ロボットに対して精度良く据付位置に位置決めして設置することができ、しかも、据付設備の設置の際の作業効率を向上させることができる。
なお、本発明の据付設備の位置決め方法の各種態様およびそれらの作用については、以下の発明の態様の項において詳しく説明する。
In order to solve the above-mentioned problems, the positioning method of the installation equipment according to the present invention is a plane on which the installation equipment is installed so that the first laser diffused light diffused on substantially the same plane from a multi-axis robot is orthogonal to each other. And projecting first laser lines orthogonal to each other on the plane, and temporarily installing the installation equipment at the installation position based on the first laser lines, and the temporarily installed installation equipment Irradiating the workpiece on the installation equipment with the second laser diffused light diffusing on substantially the same plane from the multi-axis robot toward the workpiece on the installation equipment, The second laser lines orthogonal to each other are projected on the surface, and the distance from the multi-axis robot to the workpiece is measured by the second laser diffused light. The two laser lines projected to the workpiece are orthogonal to each other. Based on measurements of the distance from the second laser line and the multi-axis robot to the workpiece, it is characterized by and a step of installing and finely adjusting the mounting position of the mounting equipment.
As a result, the installation equipment can be accurately positioned and installed with respect to the multi-axis robot, and the work efficiency at the time of installation of the installation equipment can be improved.
Various aspects of the positioning method of the installation equipment according to the present invention and their actions will be described in detail in the section of the aspect of the invention below.
（発明の態様）
以下に、本願において特許請求が可能と認識されている発明（以下、「請求可能発明」という場合がある。）の態様をいくつか例示し、それらについて説明する。なお、各態様は、請求項と同様に、項に区分し、各項に番号を付して、必要に応じて他の項を引用する形式で記載する。これは、あくまでも請求可能発明の理解を容易にするためであり、請求可能発明を構成する構成要素の組み合わせを、以下の各項に記載されたものに限定する趣旨ではない。つまり、請求可能発明は、各項に付随する記載、実施の形態等を参酌して解釈されるべきであり、その解釈に従う限りにおいて、各項の態様にさらに他の構成要件を付加した態様も、また、各項の態様から構成要件を削除した態様も、請求可能発明の一態様となり得るのである。なお、以下の各項において、（１）項が請求項１に相当する。
(Aspect of the Invention)
In the following, some aspects of the invention that can be claimed in the present application (hereinafter sometimes referred to as “claimable invention”) will be exemplified and described. In addition, each aspect is divided into a term like a claim, it attaches | subjects a number to each term, and is described in the format which quotes another term as needed. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description, embodiments, etc. accompanying each section, and as long as the interpretation is followed, there may be embodiments in which other constituent elements are added to the aspects of each section. In addition, an aspect in which the constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention. Note that in the following sections (1) term corresponds to claim 1.
（１）据付設備の多軸ロボットに対する据付位置の位置決め方法であって、前記多軸ロボットから、略同一平面上に拡散する第１レーザ拡散光を、互いに直交するように前記据付設備が設置される平面に向かって照射して、該平面上に互いに直交する第１レーザラインを映し出し、該各第１レーザラインに基いて、前記据付設備を据付位置に仮設置する工程と、仮設置された据付設備上にワークを配置する工程と、前記多軸ロボットから、略同一平面上に拡散する第２レーザ拡散光を、互いに直交するように前記据付設備上の前記ワークに向かって照射して、前記ワーク上に互いに直交する各第２レーザラインを映し出すと共に前記第２レーザ拡散光により前記多軸ロボットから前記ワークまでの距離を測定し、前記ワークに映し出された互いに直交する各第２レーザライン及び前記多軸ロボットから前記ワークまでの距離の測定値に基づいて、前記据付設備の据付位置を微調整して設置する工程と、
を備えることを特徴とする据付設備の位置決め方法。
従って、（１）項の据付設備の位置決め方法では、まず、オフラインにおいて、シミュレーションソフトにより、据付設備の基準及び多軸ロボットの基準から、据付設備が平面へ設置される据付位置を特定するための基準ラインとして利用する、多軸ロボットから互いに直交するように照射される第１レーザ拡散光の仕様を算出する。続いて、この算出された各第１レーザ拡散光の仕様を多軸ロボットに入力する。また、シミュレーションソフトにより、据付設備の基準及び多軸ロボットの基準から、据付設備上のワークの位置を特定するための基準ラインとして利用する、多軸ロボットから互いに直交するように照射される第２レーザ拡散光の仕様及び多軸ロボットからワークの対応する基準までの距離を算出する。続いて、この算出された各第２レーザ拡散光の仕様及び多軸ロボットからワークの対応する基準までの距離の正常値を多軸ロボットに入力する。
そして、インラインにおいて、多軸ロボットに備えたレーザ照射源から第１レーザ拡散光を、互いに直交するように据付設備が設置される平面に向かって照射し、該平面上に互いに直交する第１レーザラインを映し出す。続いて、平面に映し出された各第１レーザラインに基づいて据付設備を仮設置する。
次に、多軸ロボットのアーム先端に備えたレーザ照射源から第２レーザ拡散光を、仮設置された据付設備上のワークに互いに直交するように照射して、該ワークに互いに直交する第２レーザラインを映し出すと共にアーム先端からワークまでの距離を測定する。続いて、ワークに映し出された各第２レーザライン及びアーム先端からワークまでの距離の測定値に基づいて、据付設備の据付位置を微調整する。
これにより、据付設備を多軸ロボットに対して、３次元にて精度良く位置決めして設置することができる。
(1) A method for positioning an installation position relative to a multi-axis robot of installation equipment, wherein the installation equipment is installed so that the first laser diffused light that diffuses from substantially the same plane from the multi-axis robot is orthogonal to each other. Irradiating toward the plane, projecting first laser lines orthogonal to each other on the plane, and temporarily installing the installation equipment at the installation position based on the first laser lines; Irradiating the workpiece on the installation equipment with the second laser diffused light diffusing on substantially the same plane from the multi-axis robot, and placing the workpiece on the installation equipment, Second laser lines that are orthogonal to each other are projected on the workpiece, and the distance from the multi-axis robot to the workpiece is measured by the second laser diffused light. A step of based on measurements of the distance from the second laser line and the multi-axis robot to the workpiece is placed and finely adjusting the mounting position of the mounting equipment perpendicular to,
The method of positioning installation equipment, characterized in that it comprises a.
Therefore, in the positioning method of the installation equipment of the item (1), first, in order to specify the installation position where the installation equipment is installed on the plane from the reference of the installation equipment and the reference of the multi-axis robot by the offline simulation software. A specification of the first laser diffused light used as a reference line and irradiated from the multi-axis robot so as to be orthogonal to each other is calculated. Subsequently, the calculated specifications of each first laser diffused light are input to the multi-axis robot. In addition, the simulation software uses the multi-axis robot to irradiate perpendicularly from the multi-axis robot, which is used as a reference line for specifying the position of the workpiece on the installation equipment from the standard of the installation equipment and the reference of the multi-axis robot. Calculate the laser diffused light specifications and the distance from the multi-axis robot to the corresponding reference of the workpiece. Subsequently, the calculated specification of each second laser diffused light and the normal value of the distance from the multi-axis robot to the corresponding reference of the workpiece are input to the multi-axis robot.
Then, in-line, the first laser diffused from the laser irradiation source provided in the multi-axis robot is irradiated toward the plane where the installation equipment is installed so as to be orthogonal to each other, and the first lasers orthogonal to each other on the plane Project lines. Subsequently, an installation facility is temporarily installed based on each first laser line projected on the plane.
Next, the second laser diffused light is irradiated from the laser irradiation source provided at the arm tip of the multi-axis robot so as to be orthogonal to the workpiece on the temporarily installed installation equipment, and the workpiece is secondly orthogonal to the workpiece. The laser line is projected and the distance from the arm tip to the workpiece is measured. Subsequently, the installation position of the installation equipment is finely adjusted based on each second laser line projected on the workpiece and the measured value of the distance from the tip of the arm to the workpiece.
Thereby, it is possible to accurately position and install the installation equipment with respect to the multi-axis robot in three dimensions.
本発明によれば、据付設備を多軸ロボットに対して精度良く据付位置に位置決めして設置することができ、しかも、設置の際の作業効率を向上させる据付設備の位置決め方法を提供することができる。 According to the present invention, it is possible to provide a positioning method of an installation facility that can position and install the installation facility with respect to the multi-axis robot with high accuracy, and improve work efficiency during the installation. it can.
以下、本発明を実施するための最良の形態を図１に基いて詳細に説明する。
本発明の実施の形態に係る据付設備の位置決め装置１は、ワークＷが多軸ロボット２により搬送されて配置される据付設備３を、該多軸ロボット２に対して正確に据付位置に位置決めして設置できるものであり、本位置決め装置１は、多軸ロボット２のアーム２ａ先端に、略同一平面上に拡散する第１及び第２レーザ拡散光５、６を照射するレーザ照射源４を備えて構成される。
該レーザ照射源４は、図１（ａ）に示すような、略同一平面上に拡散する第１レーザ拡散光５、５を、互いに直交するように床面Ｆに向かって照射する第１レーザ照射源と、図１（ｃ）に示すような、略同一平面上に拡散する第２レーザ拡散光６、６を、互いに直交するようにワークＷに向かって照射すると共に多軸ロボット２のアーム２ａ先端からのワークＷの距離Ｌを測定可能な第２レーザ照射源とを別体にまたは一体的に備えている。
Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to FIG.
An installation equipment positioning apparatus 1 according to an embodiment of the present invention accurately positions an installation equipment 3 in which a workpiece W is transported and arranged by a multi-axis robot 2 with respect to the multi-axis robot 2 at an installation position. The positioning apparatus 1 includes a laser irradiation source 4 that irradiates the first and second laser diffused lights 5 and 6 diffusing on substantially the same plane at the tip of the arm 2a of the multi-axis robot 2. Configured.
As shown in FIG. 1A, the laser irradiation source 4 emits first laser diffused light 5 and 5 diffusing on substantially the same plane toward the floor surface F so as to be orthogonal to each other. The irradiation source and second laser diffused light 6 and 6 diffusing on substantially the same plane as shown in FIG. 1C are irradiated toward the workpiece W so as to be orthogonal to each other and the arm of the multi-axis robot 2 2a A second laser irradiation source capable of measuring the distance L of the workpiece W from the tip is provided separately or integrally.
次に、本位置決め装置１を使用した据付設備３の位置決め方法を説明する。
まず、オフラインにおいて、シミュレーションソフトにより、据付設備３の基準及び多軸ロボット２の基準から、据付設備３が床面Ｆへ設置される据付位置を特定するための基準ラインとして利用する、多軸ロボット２のアーム２ａ先端から照射される第１レーザ拡散光５、５を算出する。
また、シミュレーションソフトにより、据付設備３の基準及び多軸ロボット２の基準から、据付設備３の所定位置に配置されるワークＷ（据付設備３の空間上の据付基準）の位置を特定するための基準ラインとして利用する、多軸ロボット２から照射される第２レーザ拡散光６、６及び多軸ロボット２のアーム２ａ先端からのワークＷの距離Ｌを算出する（以下、正常値という）。
Next, a method for positioning the installation equipment 3 using the positioning device 1 will be described.
First, the multi-axis robot is used as a reference line for specifying the installation position where the installation facility 3 is installed on the floor F from the reference of the installation facility 3 and the reference of the multi-axis robot 2 by simulation software offline. The first laser diffused lights 5 and 5 irradiated from the tip of the two arms 2a are calculated.
In addition, the position of the workpiece W (installation standard in the space of the installation equipment 3) placed at a predetermined position of the installation equipment 3 is specified by the simulation software from the standard of the installation equipment 3 and the reference of the multi-axis robot 2. The distance L of the workpiece W from the second laser diffused lights 6 and 6 irradiated from the multi-axis robot 2 and the tip of the arm 2a of the multi-axis robot 2 used as a reference line is calculated (hereinafter referred to as a normal value).
次に、オフラインで算出された各第１レーザ拡散光５、５の仕様、各第２レーザ拡散光６、６の仕様及び多軸ロボット２のアーム２ａ先端からのワークＷの距離Ｌの正常値を多軸ロボット２に入力する。
次に、インラインにおいて、図１（ａ）に示すように、多軸ロボット２のアーム２ａ先端に備えたレーザ照射源４の第１レーザ照射源から第１レーザ拡散光５、５を、互いに直交するように床面Ｆ（据付設備３が設置される平面）に向かって照射し、該床面Ｆ上に互いに直交する第１レーザライン５ａ、５ａを映し出す。続いて、図１（ｂ）に示すように、床面Ｆに映し出された、互いに直交する第１レーザライン５ａ、５ａ及び各第１レーザライン５ａ、５ａの交差ポイントに、据付設備３の対応する据付基準をそれぞれ一致させて、据付設備３を床面Ｆに仮設置する（第１工程）。
次に、図１（ｃ）に示すように、仮設置された据付設備３の所定位置にワークＷを配置する。続いて、多軸ロボット２のアーム２ａ先端に備えたレーザ照射源４の第２レーザ照射源から第２レーザ拡散光６、６を、互いに直交するように据付設備３の所定位置に配置されたワークＷ（据付設備３の空間上の据付基準）に向かって照射して、ワークＷ上に互いに直交する第２レーザライン６ａ、６ａを映し出すと共に各第２レーザ拡散光６、６によりアーム２ａ先端からのワークＷの距離Ｌを測定する。続いて、ワークＷに映し出された互いに直交する第２レーザライン６ａ、６ａに、ワークＷの対応する基準をそれぞれ一致させるように、且つアーム２ａ先端からのワークＷの距離Ｌの測定値とオフラインで予め算出した正常値とが一致するように据付設備３の据付位置を微調整して、最終的に据付設備３を３次元的に位置決めして設置する（第２工程）。
Next, the normal values of the specifications of the first laser diffused lights 5 and 5, the specifications of the second laser diffused lights 6 and 6, and the distance L of the workpiece W from the tip of the arm 2 a of the multi-axis robot 2 calculated offline. Is input to the multi-axis robot 2.
Next, in line, as shown in FIG. 1A, the first laser diffused lights 5 and 5 from the first laser irradiation source of the laser irradiation source 4 provided at the tip of the arm 2a of the multi-axis robot 2 are orthogonal to each other. In this way, irradiation is performed toward the floor surface F (a plane on which the installation equipment 3 is installed), and the first laser lines 5a and 5a orthogonal to each other are projected on the floor surface F. Subsequently, as shown in FIG. 1B, the installation facility 3 corresponds to the first laser lines 5a and 5a that are projected on the floor surface F and intersecting each other and the first laser lines 5a and 5a. The installation standards 3 are made to coincide with each other, and the installation equipment 3 is temporarily installed on the floor surface F (first step).
Next, as shown in FIG.1 (c), the workpiece | work W is arrange | positioned in the predetermined position of the installation equipment 3 temporarily installed. Subsequently, the second laser diffused lights 6 and 6 from the second laser irradiation source of the laser irradiation source 4 provided at the tip of the arm 2a of the multi-axis robot 2 were arranged at predetermined positions of the installation equipment 3 so as to be orthogonal to each other. Irradiation toward the workpiece W (installation standard in the space of the installation equipment 3), the second laser lines 6a and 6a orthogonal to each other are projected on the workpiece W, and the end of the arm 2a is projected by the second laser diffused lights 6 and 6. Measure the distance L of the workpiece W from. Subsequently, the measured value of the distance L of the workpiece W from the tip of the arm 2a and the off-line are set offline so that the second laser lines 6a, 6a orthogonal to each other projected on the workpiece W are matched with the corresponding reference of the workpiece W. Then, the installation position of the installation equipment 3 is finely adjusted so that the normal value calculated in advance matches, and the installation equipment 3 is finally positioned and installed three-dimensionally (second step).
以上説明したように、本発明の実施の形態では、第１工程として、多軸ロボット２のアーム２ａ先端に備えたレーザ照射源４の第１レーザ照射源から、予め入力された略同一平面上に拡散する第１レーザ拡散光５、５を、互いに直交するように床面Ｆに向かって照射する。続いて、該床面Ｆに映し出された互いに直交する第１レーザライン５ａ、５ａに、据付設備３の対応する据付基準をそれぞれ一致させて据付設備３を仮設置する。次に、第２工程として、多軸ロボット２のアーム２ａ先端に備えたレーザ照射源４の第２レーザ照射源から、予め入力された略同一平面上に拡散する第２レーザ拡散光６、６を、互いに直交するように仮設置された据付設備３の所定位置に配置されたワークＷ（据付設備３の空間上の据付基準）に向かって照射すると共に各第２レーザ拡散光６、６によりアーム２ａ先端からのワークＷの距離Ｌを測定する。続いて、ワークＷに映し出された互いに直交する第２レーザライン６ａ、６ａに、ワークＷの対応する基準をそれぞれ一致させるように、且つアーム２ａ先端からのワークＷの距離Ｌの測定値とオフラインで算出した正常値とが一致するように据付設備３の据付位置を微調整する。 As described above, in the embodiment of the present invention, as the first step, the first laser irradiation source of the laser irradiation source 4 provided at the tip of the arm 2a of the multi-axis robot 2 is on the substantially same plane input in advance. Are irradiated toward the floor surface F so as to be orthogonal to each other. Subsequently, the installation equipment 3 is temporarily installed by making the corresponding installation standards of the installation equipment 3 coincide with the first laser lines 5 a and 5 a that are orthogonal to each other and projected on the floor surface F. Next, as a second step, second laser diffused light 6 and 6 diffused on substantially the same plane previously input from the second laser irradiation source of the laser irradiation source 4 provided at the tip of the arm 2a of the multi-axis robot 2. To the workpiece W (installation standard in the space of the installation equipment 3) disposed at a predetermined position of the installation equipment 3 temporarily installed so as to be orthogonal to each other, and by the respective second laser diffused lights 6 and 6 The distance L of the workpiece W from the tip of the arm 2a is measured. Subsequently, the measured value of the distance L of the workpiece W from the tip of the arm 2a and the off-line are set offline so that the second laser lines 6a, 6a orthogonal to each other projected on the workpiece W are matched with the corresponding reference of the workpiece W. The installation position of the installation equipment 3 is finely adjusted so that the normal value calculated in step 1 matches.
これにより、作業者によるマーキング作業や設置される床面Ｆの状況等に左右されることなく、据付設備３をシミュレーション結果に基いて正常な据付位置に位置決めして設置することが可能になる。さらに、本発明の実施の形態では、第１工程にて、第１レーザ拡散光５、５の照射により床面Ｆに第１レーザライン５ａ、５ａを映し出し、該第１レーザライン５ａ、５ａを、従来、作業者が床面Ｆに手作業でマーキングしていた基準ラインとしているので、作業効率が大幅に向上されると共に基準ラインの位置精度が格段に向上する。
しかも、本発明の実施の形態では、第２工程において、多軸ロボット２が直接把持するワークＷの位置に基いて据付設備３の据付位置を細かく微調整することができるので、多軸ロボット２に対する据付設備３の据付位置の位置精度がさらに向上する。
Thereby, it becomes possible to position and install the installation equipment 3 at a normal installation position based on the simulation result without being influenced by the marking work by the worker or the situation of the floor surface F to be installed. Further, in the embodiment of the present invention, in the first step, the first laser lines 5a and 5a are projected on the floor surface F by the irradiation of the first laser diffused lights 5 and 5, and the first laser lines 5a and 5a are displayed. Conventionally, since the reference line has been manually marked on the floor surface F by the operator, the work efficiency is greatly improved and the position accuracy of the reference line is remarkably improved.
Moreover, in the embodiment of the present invention, in the second step, the installation position of the installation equipment 3 can be finely adjusted based on the position of the workpiece W directly gripped by the multi-axis robot 2. The positional accuracy of the installation position of the installation equipment 3 with respect to the is further improved.
なお、本発明の実施の形態では、各第１レーザ拡散光５、５を床面Ｆに向かって照射して、据付設備３を仮設置する第１工程と、該第１工程により仮設置された据付設備３の所定位置にワークＷを配置し、各第２レーザ拡散光６、６をワークＷに向かって照射して、据付設備３の据付位置を微調整する第２工程とを備えているが、第１及び第２工程の両方を実行する必要はなく、据付設備３の設置環境により、適宜第１または第２工程のいずれかを選択して実行してもよい。
つまり、据付設備３を第１工程により床面Ｆに仮設置した際、その設置がシミュレーション結果と同一であると確証できる場合には、第２工程は省略してもよい。
一方、据付設備３が既に床面Ｆの所定位置に仮設置されている場合等は、第２工程だけを行い、据付設備３の据付位置の微調整を行えばよい。
In the embodiment of the present invention, the first laser diffused light 5 and 5 are irradiated toward the floor surface F to temporarily install the installation equipment 3, and the temporary installation is performed by the first process. And a second step of finely adjusting the installation position of the installation equipment 3 by arranging the work W at a predetermined position of the installation equipment 3 and irradiating the second laser diffused light 6 and 6 toward the work W. However, it is not necessary to execute both the first and second steps. Depending on the installation environment of the installation facility 3, either the first or second step may be selected and executed as appropriate.
That is, when the installation facility 3 is temporarily installed on the floor F in the first step, the second step may be omitted if it can be confirmed that the installation is the same as the simulation result.
On the other hand, when the installation equipment 3 has already been temporarily installed at a predetermined position on the floor surface F, only the second step may be performed to finely adjust the installation position of the installation equipment 3.
なお、本据付設備３の位置決め方法において、原則的に第１工程しか採用しないのであれば、本位置決め装置１のレーザ照射源４には、略同一平面上に拡散する第１レーザ拡散光５、５を、互いに直交するように床面Ｆに向かって照射する第１レーザ照射源だけを備えればよいし、第２工程しか採用しないのであれば、本位置決め装置１のレーザ照射源４には、略同一平面上に拡散する第２レーザ拡散光６、６を、互いに直交するようにワークＷに向かって照射すると共にワークＷとの距離Ｌを測定可能な第２レーザ照射源だけを備えればよい。 In the positioning method of the main installation equipment 3, if only the first step is adopted in principle, the laser irradiation source 4 of the positioning apparatus 1 has a first laser diffused light 5 diffusing on substantially the same plane, 5 may be provided with only the first laser irradiation source that irradiates the floor surface F so as to be orthogonal to each other. If only the second step is employed, the laser irradiation source 4 of the positioning device 1 includes The second laser diffused light 6, 6 diffusing on substantially the same plane is irradiated toward the workpiece W so as to be orthogonal to each other, and only the second laser irradiation source capable of measuring the distance L to the workpiece W is provided. That's fine.
また、本発明の実施の形態では、据付設備３の多軸ロボット２に対する据付位置を位置決めする際、据付設備３の空間上の据付基準を、据付設備３の所定位置に配置されたワークＷとしているが、据付設備３の空間上（３次元）に位置する適宜部位を空間上の据付基準としてもよい。 Further, in the embodiment of the present invention, when positioning the installation position of the installation equipment 3 with respect to the multi-axis robot 2, the installation reference in the space of the installation equipment 3 is set as a work W arranged at a predetermined position of the installation equipment 3. However, an appropriate part located on the space (three-dimensional) of the installation facility 3 may be used as the installation reference on the space.
１ 位置決め装置，２ 多軸ロボット，２ａ アーム，３ 据付設備，４ レーザ照射源，５ 第１レーサ拡散光，５ａ 第１レーザライン，６ 第２レーザ拡散光，６ａ 第２レーザライン，Ｆ 床面，Ｗ ワーク DESCRIPTION OF SYMBOLS 1 Positioning device, 2 Multi-axis robot, 2a arm, 3 Installation equipment, 4 Laser irradiation source, 5 1st laser diffused light, 5a 1st laser line, 6 2nd laser diffused light, 6a 2nd laser line, F floor surface , W Work
Claims (1)
前記多軸ロボットから、略同一平面上に拡散する第１レーザ拡散光を、互いに直交するように前記据付設備が設置される平面に向かって照射して、該平面上に互いに直交する第１レーザラインを映し出し、該各第１レーザラインに基いて、前記据付設備を据付位置に仮設置する工程と、
仮設置された据付設備上にワークを配置する工程と、
前記多軸ロボットから、略同一平面上に拡散する第２レーザ拡散光を、互いに直交するように前記据付設備上の前記ワークに向かって照射して、前記ワーク上に互いに直交する各第２レーザラインを映し出すと共に前記第２レーザ拡散光により前記多軸ロボットから前記ワークまでの距離を測定し、前記ワークに映し出された互いに直交する各第２レーザライン及び前記多軸ロボットから前記ワークまでの距離の測定値に基づいて、前記据付設備の据付位置を微調整して設置する工程と、
を備えることを特徴とする据付設備の位置決め方法。 A method for positioning an installation position with respect to a multi-axis robot of installation equipment,
First laser diffused light that is diffused on substantially the same plane from the multi-axis robot is irradiated toward the plane on which the installation equipment is installed so as to be orthogonal to each other, and first lasers that are orthogonal to each other on the plane Projecting a line, and temporarily installing the installation equipment at an installation position based on each first laser line ;
A process of placing a workpiece on a temporarily installed installation facility;
Second laser diffused light diffusing on substantially the same plane from the multi-axis robot is irradiated toward the workpiece on the installation equipment so as to be orthogonal to each other, and the second lasers orthogonal to each other on the workpiece. A line is projected and the distance from the multi-axis robot to the workpiece is measured by the second laser diffused light, and each second laser line and the distance from the multi-axis robot projected to the workpiece are projected to the workpiece. A step of finely adjusting the installation position of the installation equipment based on the measured value of
The method of positioning installation equipment, characterized in that it comprises a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008064280A JP5170402B2 (en) | 2008-03-13 | 2008-03-13 | Installation equipment positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008064280A JP5170402B2 (en) | 2008-03-13 | 2008-03-13 | Installation equipment positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2009220190A JP2009220190A (en) | 2009-10-01 |
| JP5170402B2 true JP5170402B2 (en) | 2013-03-27 |
Family
ID=41237546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2008064280A Expired - Fee Related JP5170402B2 (en) | 2008-03-13 | 2008-03-13 | Installation equipment positioning method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5170402B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6650119B1 (en) * | 2018-09-27 | 2020-02-19 | 株式会社安川電機 | Robot, robot system, robot position adjustment method |
| CN109434792A (en) * | 2018-11-08 | 2019-03-08 | 广州厚邦木业制造有限公司 | The equipment of composite floor board veneer scribing line |
| DE102019119484A1 (en) * | 2019-07-18 | 2021-01-21 | Benedikt Pfaff | Laser positioning system for arrangement on perforated tables |
| CN112548979B (en) * | 2020-12-01 | 2022-09-02 | 四川航天长征装备制造有限公司 | Marking method for melon petal chemical milling sample plate |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2808274B1 (en) * | 1997-05-02 | 1998-10-08 | 川崎重工業株式会社 | Target position detection method and position detection device |
| JP2940910B2 (en) * | 1997-06-30 | 1999-08-25 | レーザーテクノ株式会社 | Laser device for ink marking |
| JPH11257963A (en) * | 1998-03-11 | 1999-09-24 | Yasaka:Kk | Laser light projection image apparatus |
| DE202004007476U1 (en) * | 2004-03-26 | 2004-09-02 | Stabila-Meßgeräte Gustav Ullrich GmbH | Alignment device for formation of linear optical markings, e.g. a laser-level instrument, whereby markings are formed with grooved shaped lenses that cause light to reflect in different directions dependent on its incident position |
| JP2007118165A (en) * | 2005-10-31 | 2007-05-17 | Hitachi Plant Technologies Ltd | Ink position recording device |
-
2008
- 2008-03-13 JP JP2008064280A patent/JP5170402B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2009220190A (en) | 2009-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5170402B2 (en) | Installation equipment positioning method | |
| CN110508930B (en) | Positioning method for PCB (printed Circuit Board) online marking | |
| US20080265158A1 (en) | Charged particle beam apparatus | |
| CN104842219A (en) | Satellite structure platform multi-procedure intensive type repairing system and method | |
| US7489411B2 (en) | Apparatus and methods for calibrating a laser projection device | |
| US20140173922A1 (en) | Laser positioner for punching machines | |
| JP2011083867A (en) | Method and device for positioning workpiece | |
| US7003871B2 (en) | Solder paste stencil manufacturing system | |
| KR101122256B1 (en) | Zig for replicating end shape of pipe and method for marking cutting line on pipe using the same | |
| JP2002032107A (en) | Method for machining work | |
| JP5724236B2 (en) | Method for setting virtual line parallel to core line of construction member, pair of virtual line setting jig for setting virtual line, and installation method for installing linearity measuring device on construction member | |
| CN210198327U (en) | 2D and 3D measuring device | |
| KR20130029883A (en) | Laser vision system calibration method using working joint | |
| KR101395660B1 (en) | Method for aligning of three-dimension coordinate using normal vector, and storage medium storing computer readable program for processing it | |
| JP2003039347A (en) | Work positioning method | |
| JP2006334731A (en) | Product transport carriage, robot position measuring system and its measuring method | |
| CN216939758U (en) | Device for rapidly positioning measuring point of S-shaped test piece serving as standard piece | |
| JP2007075956A (en) | Reference alignment instrument and reference alignment method using it | |
| KR100325238B1 (en) | Apparatus for setting wire rope | |
| CN116520768B (en) | Processing path debugging method and device, electronic equipment and storage medium | |
| KR20120038086A (en) | Method of aligning a wafer stage, apparatus for performing the method, and an exposing apparatus including the aligning apparatus | |
| JP2005098736A (en) | Dimension measuring method using laser floodlight and installing fixture for laser floodlight | |
| JP2014087904A (en) | Positioning jig | |
| JP3926163B2 (en) | Piping structure groove shape measuring method and measuring apparatus therefor | |
| JP2005181023A (en) | Measuring device and method of height difference and tilt angle between planes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20100723 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20120614 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120711 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120824 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20121205 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20121218 |
|
| R151 | Written notification of patent or utility model registration |
Ref document number: 5170402 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20160111 Year of fee payment: 3 |
|
| LAPS | Cancellation because of no payment of annual fees |