JP5200777B2 - Robot apparatus teaching method and robot apparatus teaching jig - Google Patents

Description

  The present invention relates to a teaching method for a robot apparatus and a teaching jig for the robot apparatus that facilitate teaching operation for alignment in a teaching method for a robot apparatus including a manipulator.

  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, a teaching operation (calibration) for alignment must be performed. Conventionally, this teaching operation is performed by the operator of the robot apparatus operating the robot apparatus while using a teaching pendant, etc., and actually placing the target work on the work table or pointing the coordinate origin position. Was teaching.

  In addition, the following proposals have been made as methods for automating or semi-automating these teaching operations. For example, in the technique described in Patent Document 1, a camera and an illumination device (light source unit and irradiation unit) are provided as an apparatus for performing position correction at the tip of a manipulator, and an image obtained by the camera is displayed. Based on this, a teaching operation is performed by a computer.

  The technique described in Patent Document 2 uses a calibration system (displacement detection device) that mechanically detects the position of the tip of a manipulator. In this technology, a calibration system is attached to a reference surface provided on the robot device itself or a reference surface whose positional relationship with the robot device is known, and the tip of the calibration system and the tip of the manipulator are mechanically connected. To join. Then, the position and inclination data of the tip of the manipulator are detected by the calibration system, and a teaching operation is performed based on this data.

  Patent Document 3 describes a robot apparatus that saves labor by performing a teaching operation according to the following procedure. That is, first, a calibration jig whose positional relationship with the target workpiece is known is installed on the environment side (such as a work table) where the target workpiece is located. Next, a calibration tool is attached to the tip of the manipulator, and the position of the tip of the calibration tool and the concave portion of the calibration jig installed on the environment side is corrected according to the force applied to the manipulator (force Using control functions). The tip portion of the calibration tool and the concave portion of the calibration jig have shapes that match each other. The manipulator position where these match is registered in the operation program. Then, the robot apparatus obtains the position and inclination data of the target work based on the positional relationship between the environment side calibration jig and the target work, and operates the manipulator according to this data.

JP 2001-246582 JP-A-5-261682 JP 2006-297559 A

  By the way, the teaching operation in the conventional robot apparatus as described above is complicated, and labor saving is desired. Since the conventional teaching operation is performed manually by a human eye, it requires skill of the operator to perform the highly accurate teaching operation, the burden on the operator is heavy, and the accuracy varies depending on the operator. End up. As a result, there is a problem that the robot apparatus stops during the operation because the accuracy of the teaching operation is insufficient. Further, in order to perform the teaching operation with high accuracy, it is necessary for an operator to work close to the operating robot apparatus in order to increase visual accuracy, and it is necessary to ensure safety.

  The method for automating or semi-automating the teaching operation as described above has the following problems. In the technique described in Patent Document 1, since the camera and the lighting device are attached to the manipulator, the tip inertia of the manipulator is increased, the operation speed is decreased, and the operability is also decreased. In addition, in order to increase the accuracy of the teaching operation, it is necessary to obtain a fine image, which leads to an increase in size and complexity of the camera and the lighting fixture, resulting in complicated manufacturing and an increase in manufacturing cost.

  In the technique described in Patent Document 2, the operator positions the manipulator at the target position, and it is necessary to manually perform the positioning operation. When the operation is complicated, it takes time to work. It becomes expensive.

  In the technique described in Patent Document 3, a dedicated calibration tool having a complicated shape is necessary for the teaching operation. This calibration tool is complicated to manufacture.

  In this technique, as much as the calibration tool is attached, the position and inclination are slightly shifted each time the teaching operation is performed. Furthermore, the matching operation between the calibration tool and the calibration jig must be accurately performed, and it is necessary to repeat the matching operation a plurality of times for alignment, and a quick teaching operation cannot be performed. That is, in the process of matching the corresponding locations of the calibration tool and the calibration jig, setting and adjusting force control or compliance control are complicated in order to accurately match all six degrees of freedom. It is difficult to match easily and quickly.

  Therefore, the present invention has been made in view of the above circumstances, and the object thereof is not to cause the configuration and size of the robot apparatus to be complicated, and to simplify the configuration of the teaching jig. Accordingly, it is an object of the present invention to provide a teaching method for a robot apparatus and a teaching jig for the robot apparatus that do not cause a slight shift in position and inclination at each teaching operation, and enable a quick teaching operation. .

  In order to solve the above-described problems and achieve the above object, a teaching method of a robot apparatus according to the present invention has the following configuration.

[Configuration 1]
A method for performing a teaching operation of a robot apparatus having a manipulator and a control means for controlling the operation of the manipulator, comprising: a reference plane; a reference cylinder installed with its axis perpendicular to the reference plane; a plane portion; the flat portion in the axial is the vertical reference cylinder to have a cylindrical portion rotatably fitted around the shaft gripping member Ru gripped by the hand of the manipulator, or the axis is perpendicular to the plane portion and the flat portion There is a gripping member that has a cylindrical part that is fitted to the reference cylinder so that it can rotate about the axis, and is fixed to the hand of the manipulator, and a gripping member that has the cylindrical part fitted to the reference cylinder, around the axis of the reference cylinder The gripping member is gripped by the manipulator or fixed to the hand of the manipulator, and the plane portion of the gripping member is copied to the reference plane. To detect the position and inclination of the reference plane, and then to detect the position of the reference cylinder on the reference plane by fitting the cylindrical portion of the gripping member to the reference cylinder, A predetermined rotation angle around the reference cylinder is detected by rotating a gripping member having the cylindrical portion fitted to the reference cylinder around the axis until it is blocked by the anti-rotation member, and the detected position and Based on the rotation angle, the relative position and inclination of the target workpiece and the relative position and inclination of the manipulator whose relative position and inclination with respect to the reference plane, the reference cylinder, and the rotation stopping member are known are obtained.

  Moreover, the teaching jig of the robot apparatus according to the present invention has the following configuration.

[Configuration 2]
A reference jig for a robot apparatus used for teaching operation of a robot apparatus having a manipulator and a control means for controlling the operation of the manipulator, the reference cylinder being installed with an axis perpendicular to the reference plane When the planar portion and the gripping members have a cylindrical portion Ru gripped by the hand of the manipulator axes to this plane portion is rotatably fitted around the axis to be the reference cylinder vertical, or flat portion and the flat portion A gripping member that has a cylindrical portion that is vertically fitted to the reference cylinder and that is rotatably fitted around the axis, and is fixed to the hand of the manipulator, and a reference for the gripping member in which the cylindrical portion is fitted to the reference cylinder An anti-rotation member that prevents rotation around the axis of the cylindrical body at a predetermined position, and the gripping member is gripped by the manipulator or fixed to the hand of the manipulator, and the gripping member is flattened. It is possible to detect the position and inclination of the reference plane by making the part follow the reference plane, and the position of the reference cylinder on the reference plane by fitting the cylindrical part of the gripping member to the reference cylinder. Detection of a predetermined rotation angle around the reference cylindrical body by rotating the gripping member having the cylindrical portion fitted to the reference cylindrical body around the axis until it is blocked by the rotation preventing member. It is characterized by being possible.

In the teaching method of the robot apparatus according to the present invention, having the configuration 1, the gripping member is gripped by the manipulator, or the gripping member is fixed to the hand of the manipulator, and the plane portion of the gripping member is copied to the reference plane. To detect the position and inclination of the reference plane, and then to detect the position of the reference cylinder on the reference plane by fitting the cylindrical portion of the gripping member to the reference cylinder. The predetermined rotation angle around the reference cylinder is detected by rotating the gripping member with the cylindrical portion fitted to the reference cylinder until it is blocked by the anti-rotation member, and these detected positions are detected. And the relative position and inclination of the manipulator and the position and inclination of the target workpiece whose relative position and inclination with the reference plane, reference cylinder and rotation stopper are known based on the rotation angle. Since Mel, it is possible to perform the teaching operation in a short time. Further, in this teaching method, since the teaching operation can be performed with high accuracy without variation in teaching accuracy by the operator, the problem that the robot apparatus stops during the operation can be solved.

  Furthermore, with this teaching method, teaching operation is possible only with rough control of the trajectory on the way, automation is possible with minimal manual operation, and teaching operation is possible without approaching the robotic device. Therefore, the teaching operation can be performed by an operation from outside the safety fence or outside the movable area of the robot apparatus.

  And in this teaching method, since the structure and shape of the jig to be used are simple, it can be realized at a low cost, and the shaft and the hole can be used as the shape for obtaining accuracy. Accuracy management and jig management are easy.

Moreover, in the teaching jig of the robot apparatus according to the present invention, by having the configuration 2, the gripping member is gripped by the manipulator, or the gripping member is fixed to the hand of the manipulator, and the flat portion of the gripping member is fixed. It is possible to detect the position and inclination of the reference plane by following the reference plane, and to detect the position of the reference cylinder on the reference plane by fitting the cylindrical portion of the gripping member to the reference cylinder. It is possible to detect a predetermined rotation angle around the reference cylindrical body by rotating the gripping member with the cylindrical portion fitted to the reference cylindrical body around the axis until it is blocked by the anti-rotation member. Therefore, the teaching operation can be performed in a short time. In addition, if this teaching jig is used, a highly accurate teaching operation can be performed without variation in teaching accuracy by an operator, so that the problem that the robot apparatus stops during operation can be solved.

  Furthermore, if this teaching jig is used, teaching operations can be performed only by rough control of the trajectory on the way, automation can be performed with minimal manual operation, and teaching operations can be performed without approaching the robotic device. Therefore, the teaching operation can be performed by an operation from outside the safety fence or outside the movable area of the robot apparatus.

  Since the teaching jig has a simple structure and shape, it can be manufactured at a low cost, and the shaft and the hole can be used as a shape for obtaining accuracy, so that the accuracy control is easy. It is.

  That is, the present invention does not cause the configuration or size of the robot apparatus to be complicated, and simplifies the configuration of the teaching jig, so that a small position and tilt deviation can be obtained each time the teaching operation is performed. It is possible to provide a teaching method for a robot apparatus and a teaching jig for the robot apparatus that do not occur and enable a quick teaching operation.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

[Robot device configuration]
FIG. 1 is a schematic side view showing a configuration of a robot apparatus to which a teaching method for a robot apparatus according to the present invention is applied.

  The robot apparatus to which the teaching method of the robot apparatus according to the present invention is applied has a manipulator 1 as shown in FIG. 1, and the manipulator 1 can grip, transport, and assemble the target workpiece 101 into other members. It is made possible. The target workpiece 101 is placed at a predetermined position on the work table 102.

  The manipulator 1 is composed of a plurality of actuators (driving devices) and links (rigid structures), and has six degrees of freedom. That is, the links are connected via joints 2a, 2b, 2c, 2d, and 2e that can be rotated (bent) or turned, and are relatively driven by actuators. Each actuator is controlled by control means such as a computer (not shown).

  In the manipulator 1, the first link (link at the base end) 1 a is installed with the base end connected to the base 4 via the first joint 2 a. The first joint 2a is a joint that can turn around a vertical axis (z-axis). The proximal end side of the second link 1b is connected to the distal end side of the first link 1a via the second joint 2b. The second joint 2b is a joint that allows the second link 1b to rotate around a horizontal axis. The proximal end side of the third link 1c is connected to the distal end side of the second link 1b via the third joint 2c. The third joint 2c is a joint that allows the third link 1c to rotate around a horizontal axis.

  And the base end side of the 4th link 1d is connected to the front end side of the 3rd link 1c via the 4th joint 2d. The fourth joint 2d is a joint that allows the fourth link 1d to rotate around a horizontal axis. A gripping mechanism 5 serving as a distal end tool mechanism is connected to the distal end side (hereinafter referred to as “hand tip”) of the fourth link 1 d via a fifth joint 2 e and a force sensor 3. The fifth joint 2e is a joint that enables the gripping mechanism 5 to turn around the axis of the fourth link 1d. The force sensor 3 is for realizing a position correction function such as force control.

  The gripping mechanism 5 is controlled by control means. The gripping mechanism 5 has a plurality of gripping claws, and has a function of gripping the target workpiece 101 by these gripping claws.

  In the manipulator 1, the position of the first link 1a with respect to the base 4, the position of the second link 1b with respect to the first link 1a, the position of the third link 1c with respect to the second link 1b, and the third link The position of the hand is controlled by sequentially controlling the position of the fourth link 1d with respect to 1c, the position of the gripping mechanism 5 with respect to the fourth link 1d, and the position of the link on the distal end side. The target workpiece 101 gripped by the step can be conveyed to a predetermined position.

[Robot device teaching jig]
And the teaching method of the robot apparatus which concerns on this invention is performed using the jig | tool for teaching of the robot apparatus which concerns on this invention.

  FIG. 2 is a side view showing a configuration of a part of the teaching jig of the robot apparatus according to the present invention.

  As shown in FIG. 2, the teaching jig of the robot apparatus according to the present invention includes a reference plane 10 and a reference cylindrical body 6 installed with the axis perpendicular to the reference plane 10. As shown in FIG. 2A, the reference plane 10 may be formed integrally with the work table 102 as the same plane on which the target workpiece 101 is placed on the work table 102. Further, as shown in (b) of FIG. 2, it may be provided on the base 8 placed in the same manner as the target work 101 at the place where the target work 101 is placed on the work table 102. In any of these, the reference plane 10 has a known positional relationship with respect to a predetermined position where the target workpiece 101 is placed on the work table 102.

  In this embodiment, the reference cylindrical body 6 is formed as a columnar body whose upper end side has a tapered diameter, and a cylindrical portion 12 of a gripping jig 9 described later is fitted outside. However, the reference cylindrical body 6 may be formed as a hollow cylindrical body, and the cylindrical portion 12 of the gripping jig 9 may be fitted therein.

  Further, on the reference plane 10, a first rotation stop pin 7 serving as a rotation stop member is provided in the vicinity of the reference cylindrical body 6. In this embodiment, the first anti-rotation pin 7 is formed as a cylindrical body having a pointed tip portion whose upper end is tapered in a tapered shape.

  FIG. 3 is a cross-sectional view showing the configuration of the teaching jig of the robot apparatus according to the present invention.

  The teaching jig includes a gripping member 9 as shown in FIG. The gripping member 9 is gripped by the hand of the manipulator 1. The gripping member 9 has a flat part 11 and a cylindrical part 12 whose axis is perpendicular to the flat part 11. The cylindrical portion 12 has an inner diameter corresponding to the outer diameter of the reference cylindrical body 6 so as to be fitted to the reference cylindrical body 6 so as to be rotatable about the axis.

  In this embodiment, the cylindrical portion 12 is formed as a cylindrical hole whose lower end side is enlarged in a taper shape. In this embodiment, the gripping member 9 has an outer cylinder portion 14 that is mounted via a bearing 13. The gripping member 9 can smoothly rotate around the axis together with the manipulator 1 even when the outer cylinder portion 14 is gripped by the hand of the manipulator 1 and the flat surface portion 11 is fixed.

  The gripping member 9 may be an integral member without providing the outer cylinder portion 14 and the bearing 13. However, this is possible when the flat surface portion 11 of the gripping member 9 is sufficiently slippery (small friction) with respect to the reference plane 10.

  A second rotation stop pin 15 serving as a rotation stop member is provided on the outer peripheral surface of the outer cylinder portion 14 of the gripping member 9. The second anti-rotation pin 15 protrudes toward the outer side of the gripping member 9 and can be, for example, a round pin implanted in the outer cylinder portion 14.

  FIG. 4 is a plan view showing the configuration of the teaching jig of the robot apparatus according to the present invention.

  As shown in FIG. 4, when the cylindrical portion 12 of the gripping member 9 is fitted to the reference cylindrical body 6, the first and second anti-rotation pins 7 and 15 are connected to the reference cylindrical body 6. When rotated around the axis, when the gripping member 9 reaches a predetermined rotational position, the second rotation stop pin 15 comes into contact with the first and second rotation stop pins 7, and the gripping member 9 is moved to a predetermined position. Stop at the rotational position.

[Robot Device Teaching Method]
The teaching method of the robot apparatus according to the present invention is executed by the following procedure using the teaching jig described above.

  FIG. 5 is a side view showing a first procedure of the teaching method of the robot apparatus according to the present invention.

  First, as shown in FIG. 5, the gripping member 9 is gripped by the manipulator 1, and the flat surface 11 of the gripping member 9 is brought into contact with a projection or the like to the reference plane 10 that is less likely to prevent normal contact. Press in the direction.

  The gripping member 9 may be fixed to a part of the hand, in addition to the form gripped by the hand of the manipulator 1. When obtaining the position and inclination of the reference plane 10, if the grasping member 9 is grasped, the TCP (tool center point) of the grasping part (nail or the like) and the TCP of the grasping member 9 are different, so the position (z) Then, after detecting the inclinations (θx, θy), it is necessary to correct the TCP shift. Similarly, if the relative relationship between the position and inclination of the TCP between the gripping member 9 and the gripping part is calibrated in advance by another means, the gripping member 9 is fixed in a place where it does not interfere with the hand, Is possible. That is, the gripping member 9 is not limited to gripping, and may be fixed to the hand.

  FIG. 6 is a side view showing a second procedure of the teaching method of the robot apparatus according to the present invention.

  Then, as shown in FIG. 6, the planar portion 11 of the gripping member 9 is changed to the reference plane 10 by using a function (force control, compliance control, etc.) for correcting the position and inclination according to the force and moment applied to the manipulator 1. Imitate. The position and inclination of the manipulator 1 at this time are detected as the position of the reference plane 10. That is, at this time, z (height in the z direction), θx (rotational position around the x axis), and θy (rotational position around the y axis) are determined. This detection result may be stored each time, or may be stored when all positions and inclinations (all 6 degrees of freedom) are detected in the final stage. In this case, each step is performed to easily perform the next step. For example, if the inclinations of θx and θy are made to follow, the fitting of the next step and the insertion into the shaft become easier and quicker than at least when the inclination is unknown. If stored in the final stage, for example, there may be a slight variation depending on the location for the detection of the inclination by the reference plane 10, but there is an advantage that a stable result that is not affected by such a variation can be obtained in the final stage.

  FIG. 7 is a side view showing a third procedure of the teaching method of the robot apparatus according to the present invention.

  Next, as shown in FIG. 7, the gripping member 9 is moved to the vicinity of the reference cylindrical body 6 by the manipulator 1.

  FIG. 8 is a side view showing a fourth procedure of the teaching method of the robot apparatus according to the present invention.

  Then, as shown in FIG. 8, the cylindrical portion 12 of the gripping member 9 is fitted to the reference cylindrical body 6 by the manipulator 1. At this time, the upper end side of the reference cylindrical body 6 is tapered, and the lower end side of the cylindrical portion 12 is expanded in a tapered shape, so that even if there is a slight misalignment, the force control of the manipulator The cylindrical portion 12 is fitted along the reference cylindrical body 6 by compliance control or the like. In addition, since θx and θy are determined in the second procedure, and the reference cylinder 6 is installed perpendicular to the reference plane 10, it can be surely fitted more quickly than when θx and θy are unknown. Combined. When the cylindrical portion 12 is fitted to the reference cylindrical body 6, the position of the reference cylindrical body 6 on the reference plane 10 is detected. At this time, x, y (position on the xy plane (reference plane 10)) is determined.

  FIG. 9 is a side view showing a state leading to a fourth procedure of the teaching method of the robot apparatus according to the present invention.

  When the cylindrical portion 12 of the gripping member 9 is fitted to the reference cylindrical body 6, the second anti-rotation pin 15 comes into contact with the tip of the first anti-rotation pin 7 as shown in FIG. It is conceivable that the fitting is prevented. However, the tip end portion of the first anti-rotation pin 7 is pointed, and the second anti-rotation pin 15 is a round pin. Therefore, the second anti-rotation pin 15 is provided at the tip portion of the first anti-rotation pin 7. Therefore, the cylindrical portion 12 is smoothly fitted into the reference cylindrical body 6.

  FIG. 10 is a plan view showing a fifth procedure of the teaching method of the robot apparatus according to the present invention.

  Next, as shown in FIG. 10, the gripping member 9 having the cylindrical portion 12 fitted to the reference cylindrical body 6 is rotated about the axis (around the z axis) in the predetermined direction indicated by the arrow θz by the manipulator 1. .

  FIG. 11 is a plan view showing a sixth procedure of the teaching method of the robot apparatus according to the present invention.

  Then, as shown in FIG. 11, the manipulator 1 causes the gripping member 9 in which the cylindrical portion 12 is fitted to the reference cylindrical body 6 to be brought into contact with the first anti-rotation pin 7 by the second anti-rotation pin 15. By rotating around the axis until the rotation is prevented, the direction of rotation around the reference cylinder 6 is detected. At this time, θz (rotational position around the z-axis) is determined.

  At this time, even if there is a gap (play) between the cylindrical portion 12 and the reference cylindrical body 6, the second anti-rotation pin 15 is in contact with the first anti-rotation pin 7. By applying a force for rotating the gripping member 9 in a predetermined direction, the cylindrical portion 12 is pressed against the reference cylindrical body 6 in a certain direction, so that the reproducibility of the position accuracy is high.

  Further, as described above, the planar portion of the gripping member 9 is used by performing a sixth procedure while correcting the position and inclination according to the force and moment applied to the manipulator 1 (force control, compliance control, etc.). 11 is performed again in accordance with the reference plane 10, so that all the degrees of freedom of x, y, z, θx, θy, θz at the position where the cylindrical portion 12 of the gripping member 9 is fitted to the reference cylindrical body 6 can be obtained. It is also possible to detect and store the calibration value.

  Thus, since the reference position of the manipulator 1 is determined for six degrees of freedom of x, y, z, θx, θy, and θz, the relative position and inclination with respect to the reference position are determined based on the reference position. The known position and inclination of the target workpiece 101, that is, the relative position and inclination between the position and inclination of the target workpiece 101 and the manipulator 1 can be obtained. The robot apparatus can execute a predetermined operation such as conveyance or processing by the manipulator 1 with respect to the target workpiece 101 placed at the position thus obtained.

  Therefore, in this robot apparatus, when the work is performed on a plurality of work tables, the reference cylindrical body 6 and the first rotation stop pin 7 provided for each work table, and the gripping member 9 are used. By performing the teaching operation for each work table, the work on the target workpiece 101 can be quickly performed. In this case, the robot apparatus may be a mobile (self-propelled) so-called “mobile manipulator”.

  That is, in this robotic device, even if the positional relationship between this robotic device and each work table or the positional relationship between each work table is not precisely defined, or even if the robot device is a “moving manipulator” Since the teaching operation is performed for each work table, the work on the target workpiece 101 on each work table can be accurately performed.

  In the robot apparatus to which the present invention is applied, a camera or the like is provided in the manipulator 1, and the gripping of the gripping member 9 and the detection of the rough position of the reference cylindrical body 6 can be automated by image processing. In this case, by automatically setting the gripping member 9 and the reference cylindrical body 6 to a predetermined color, the automatic recognition of the gripping member 9 and the reference cylindrical body 6 is facilitated, and the entire teaching operation can be automated.

  The robot apparatus to which the present invention is applied may be used as a machine tool, a centering machine, or the like.

It is a typical side view showing composition of a robot apparatus to which a teaching method of a robot apparatus concerning the present invention is applied. It is a side view which shows the structure of a part of teaching jig | tool of the robot apparatus which concerns on this invention. It is sectional drawing which shows the structure of the teaching jig | tool of the robot apparatus which concerns on this invention. It is a top view which shows the structure of the teaching jig | tool of the robot apparatus which concerns on this invention. It is a side view which shows the 1st procedure of the teaching method of the robot apparatus which concerns on this invention. It is a side view which shows the 2nd procedure of the teaching method of the robot apparatus which concerns on this invention. It is a side view which shows the 3rd procedure of the teaching method of the robot apparatus which concerns on this invention. It is a side view which shows the 4th procedure of the teaching method of the robot apparatus which concerns on this invention. It is a side view which shows the state which reaches the 4th procedure of the teaching method of the robot apparatus which concerns on this invention. It is a top view which shows the 5th procedure of the teaching method of the robot apparatus which concerns on this invention. It is a top view which shows the 6th procedure of the teaching method of the robot apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Manipulator 1a 1st link 1b 2nd link 1c 3rd link 1d 4th link 1e 5th link 2a 1st joint 2b 2nd joint 2c 3rd joint 2d 4th joint 2e 5th 5 Gripping mechanism 6 Reference cylinder 7 First rotation stop pin 9 Holding member 10 Reference plane 11 Plane part 12 Cylindrical part 15 Second rotation stop pin 101 Target work 102 Work table

Claims (2)

A method for performing a teaching operation of a robot apparatus having a manipulator and a control means for controlling the operation of the manipulator,
A reference plane;
A reference cylinder installed with its axis perpendicular to the reference plane;
Planar portion and the shaft in this plane portion is perpendicular to the reference cylinder around the axis to rotatably fitted gripping members have a cylindrical portion Ru gripped by the hand of the previous SL manipulator or a flat portion and the plane A gripping member that has a cylindrical portion that is perpendicular to the portion and that is fitted to the reference cylindrical body so as to be rotatable about the axis, and is fixed to the hand of the manipulator ;
A rotation stopper member that prevents rotation of the gripping member, in which the cylindrical portion is fitted to the reference cylindrical body, about the axis of the reference cylindrical body at a predetermined position;
The gripping member is gripped by the manipulator, or fixed to the hand of the manipulator, and the plane portion of the gripping member is made to follow the reference plane to detect the position and inclination of the reference plane,
Next, the position of the reference cylinder on the reference plane is detected by fitting the cylindrical portion of the gripping member to the reference cylinder.
Next, a predetermined rotation angle around the reference cylinder is detected by rotating the gripping member in which the cylindrical portion is fitted to the reference cylinder until it is blocked by the anti-rotation member. And
Based on the detected position and rotation angle, the relative position and inclination of the target workpiece and the relative position and inclination of the manipulator whose relative position and inclination with the reference plane, the reference cylindrical body, and the rotation stopping member are known are determined. A teaching method for a robotic device characterized by: A robot apparatus teaching jig used for teaching operation of a robot apparatus having a manipulator and control means for controlling the operation of the manipulator,
A reference plane;
A reference cylinder installed with its axis perpendicular to the reference plane;
Planar portion and the shaft in this plane portion is perpendicular to the reference cylinder around the axis to rotatably fitted gripping members have a cylindrical portion Ru gripped by the hand of the previous SL manipulator or a flat portion and the plane A gripping member that has a cylindrical portion that is perpendicular to the portion and that is fitted to the reference cylindrical body so as to be rotatable about the axis, and is fixed to the hand of the manipulator ;
An anti-rotation member that prevents rotation of the gripping member in which the cylindrical portion is fitted to the reference cylindrical body around an axis of the reference cylindrical body at a predetermined position;
The position and inclination of the reference plane can be detected by gripping the gripping member by the manipulator, or by fixing the gripping member to the hand of the manipulator and making the plane portion of the gripping member follow the reference plane.
By fitting the cylindrical portion of the gripping member to the reference cylindrical body, it is possible to detect the position of the reference cylindrical body on the reference plane,
A predetermined rotation angle around the reference cylindrical body can be detected by rotating the gripping member having the cylindrical portion fitted to the reference cylindrical body around the axis until it is blocked by the anti-rotation member. A teaching jig for a robot apparatus, characterized in that it exists.

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