JPH03121792A - Adjusting device for original position of industrial robot - Google Patents

Abstract

PURPOSE:To enable a precise origin adjustment by opposing the reference face of a wrist arm adjusting jig to the adjusting face of the wrist arm side face and the reference face of a tool position adjusting jig to the adjusting face of a tool fitting plate in the respective revolving directions and adjusting the opposed gap to a reference gap value. CONSTITUTION:Alignment pins 34 fitted to the lower arm reference hole 33 of an origin adjusting jig 30 and upper arm reference hole 32 are respectively inserted into the adjusting holes provided at the specific positions of a lower arm 13 and link 14, the reference face 36 of a wrist arm adjusting jig 35 is opposed to the adjusting face of the wrist arm 16 side face, also the reference faces 38, 39 of a tool position adjusting jig 37 to the adjusting face of the tool fitting arm 17 side face and that provided on a tool fitting plate 18 in the revolving direction respectively and the opposed gap is adjusted to a reference gap value. Consequently a precise origin can be adjusted with the gap adjustment by a gap gage, etc., without bringing the adjusting face into contact with the reference face.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an origin position adjustment device for adjusting the origin position for controlling an industrial robot.

[Prior Art] Industrial robots are equipped with a plurality of joints, such as a rotating head, an arm, and a wrist, each of which is linked to perform a desired motion by numerical control. For this reason, if the origin of the movement is not accurately aligned, it will not be possible to move to the correct position even if the movement is performed using the programmed control amount.
Furthermore, a slight error at the origin is magnified at the tip of the robot's arm and becomes a large error at the work point.
This requires troublesome work such as correcting the origin position of the program, causing wasted time on a production line using industrial robots, and reducing productivity. Furthermore, when a plurality of robots are used to perform collaborative work, an error in the origin may cause the robots to lose their relationships with each other, which may lead to malfunction or danger.

Therefore, when operating a robot, it is necessary to check in advance whether the origin position of each robot is accurately aligned. Conventionally, triangular alignment marks were placed on both sides of the sliding interface of the joint. , Vernier type confirmation scale is provided. (Unexamined Japanese Patent Publication No. 59-219195) [Problems to be Solved by the Invention] However, such visual adjustment of the origin requires skill, is prone to errors, and requires checking a large number of locations separately. Therefore, slight errors in each part of the robot from the base to the wrist accumulate, and even if the origin position at the wrist is maintained accurately, there is a risk that the wrist position will be incorrect in relation to the base. be.

It is an object of the present invention to eliminate such visual adjustment errors and also to eliminate cumulative errors of each part.

[Means for solving the problem] For this reason, a positioning jig is provided at a predetermined position of the base and one side of the rotating head, and a positioning pin of specified dimensions is provided on the other, and the reference surface of the positioning jig and the side surface of the positioning pin are provided. Adjustments are made to the home position by making the adjustment surfaces face each other in the rotating direction and slightly moving the rotating head so that the opposing gap reaches a preset reference gap value. Adjustment holes are provided in the lower arm and link, and the lower arm and link are slightly moved relative to the lower arm reference hole and upper arm reference hole provided in the origin adjustment jig that is removably attached to the swing head, and the adjustment hole is set as the reference point. Align the holes and insert the positioning pin to adjust to the home position, and attach the wrist arm and tool to the reference planes of the wrist arm adjustment jig and tool position adjustment jig fixed to the home position adjustment jig, respectively. Adjustment surfaces provided on the arm and the tool mounting plate are opposed in the turning direction, and the opposing gap is adjusted to a preset reference gap value and held at the original position.

[Function] Therefore, by adjusting the gap between the reference surface and the adjustment surface to the reference gap value, precise origin adjustment can be made by adjusting the gap using a gap gauge or the like without bringing the adjustment surface into contact with the reference surface. Since the origin position of each part is adjusted using the origin adjustment jig, there is no accumulation of adjustment errors.

[Example] Fig. 1 shows the state during origin adjustment according to the present invention.
The figure shows the state when the jig for origin adjustment is removed.

Reference numeral 1 designates a base, and reference numeral 2 designates a rotating head that reciprocates in the direction of arrow A on the base i. 3 is the base 1 as shown in Figure 3.
A positioning pin 4 having a specified outer diameter is inserted into a positioning pin hole provided at a predetermined position, and its side surface is used as a reference surface. Reference numeral 5 denotes a jig mounting seat attached to the side surface of the rotating head 2, which is machined as a reference mounting surface 6 on the side surface of the blade.

Reference numeral 7 denotes a positioning jig, which is attached to the jig mounting seat 5 with bolts 8, as clearly shown in FIGS. 3 and 5.
It is provided with a mounting surface 9 for positioning by abutting against the reference mounting surface 6 of the jig mounting seat 5, and an adjustment surface 10 facing the positioning pin 4 with a gap in the rotation direction.

The rotating head 2 is provided with a jig mounting surface 11 and a mounting screw hole 12. 13 is a lower arm whose one end is pivotally supported via a support post on the rotating head, and which rotates in the direction of arrow B; 14;
15 is a link parallel to the lower arm, 15 is an upper arm that rotates in the direction of arrow C, 16 is a wrist arm that is attached to the upper arm and rotates in the direction of the arrow, and I7 is attached to the tip of the wrist arm in the direction of arrow E. The tool mounting arm that rotates, 18 is attached to the tip of the tool mounting arm as indicated by the arrow F.
This is a tool mounting plate that pivots in the direction.

20 is a lower arm adjustment hole provided at a predetermined position of the lower arm 13, 21 is an upper arm adjustment hole provided at a predetermined position of the link I4, and 22 is a wrist arm positioning pin provided at a predetermined position on the outer surface of the wrist arm 16. The axis of the pin is directed toward the center of rotation of the wrist arm I6. 23 is an adjustment surface provided on the side surface of the tool mounting arm 17 in the rotation direction, and 24 is a tool positioning pin removably attached to a reference hole provided in the tool mounting surface of the tool mounting plate 18.

In addition, the position of positioning pin hole 3, positioning pin 4.22
．． 24, the reference mounting surface 6 of the jig mounting seat 5, the mounting surface 9 of the positioning jig 7, the adjustment surface 10, and the reference surface 23,
Processed with precise dimensional control.

Reference numeral 30 denotes a prismatic origin adjustment jig that is attached to and detached from the jig mounting surface 11 of the swing head 2 with bolts 31, and has an upper arm reference hole 32 and a lower arm reference hole 33 at predetermined positions as shown in FIG.
has been established. Numeral 34 is a positioning pin, and 35 is a wrist arm adjustment jig, which has a wrist arm reference surface 36 at its tip that faces the side surface of the wrist arm positioning pin 22 in the rotation direction. Reference numeral 37 denotes a tool position adjustment jig, which includes a tool mounting reference surface 38 facing the adjustment surface 23 of the tool mounting arm in the rotation direction, and a tool position adjustment surface 39 facing the side surface of the tool positioning pin 24 in the rotation direction. ing. Wrist arm adjustment jig 35 and tool position adjustment jig 37
are bolts 40 at predetermined positions of the origin adjustment jig 30, respectively.
It is removably attached.

Next, the operation of origin adjustment will be explained.

First, when adjusting the origin position of the rotating head 2, insert the positioning pin 4 into the positioning pin hole 3 of the base 1, and place the positioning jig 7 on the reference mounting surface 6 of the jig mounting seat 5 on the mounting surface 9.
are brought into contact with each other and securely fixed to the rotating head 2 with bolts 8. The rotating head 2 is rotated at a very low speed, and the positioning jig 7
The adjustment surface 10 of is moved toward the positioning pin 4, and as shown in FIG. The turning head 2 is repeatedly slightly moved so as to reach a predetermined value. The mounting positions of the positioning pin and the positioning jig are set so that the position of the rotating head when the gap G reaches a predetermined reference gap value is the origin position.

As shown in FIG. 1, the origin adjustment jig 30 is attached to the jig mounting surface 11 of the swing head 2 adjusted to the origin position with bolts 31.
, and rotate the lower arm I3 slightly to align the lower arm adjustment hole 20 with the lower arm reference hole 33 of the origin adjustment jig, hold the mutual hole positions with the alignment pin 34, and position the lower arm 13 at its origin. shall be.

Similarly, adjust the angle between the lower arm 13 and the lower arm 15 by slightly moving the link 14, align the upper arm adjustment hole 21 with the upper arm reference hole 32 of the origin adjustment jig 30, and insert the positioning pin 34. .

Next, as is clear from FIG. 6, the gap G between the wrist arm reference surface 36 of the wrist arm adjustment jig 35 attached to the origin adjustment jig 30 and the side surface of the wrist arm positioning bin 22 of the wrist arm 16 is determined as follows. Similar to the adjustment of the rotating head 2, the wrist arm 16 is slightly rotated in the direction of the arrow to adjust it to a preset predetermined value.

In addition, as shown in FIG. 7, the tool position adjustment jig 37 allows the tool mounting reference surface 38 and the tool mounting arm
The gap G3 between the adjustment surface 23 of the tool mounting plate 18 and the gap G4 between the tool positioning pin 24 of the tool mounting plate 18 and the tool position reference surface 39 are used to control the rotation of the tool mounting arm 17 in the E direction and the rotation of the tool mounting plate 18 in the F direction, respectively. The air gap is adjusted to a predetermined reference air gap value by fine adjustment.

In this way, the origin adjustment jig 30 adjusts the origin positions of the upper arm, lower arm, wrist arm, tool attachment arm, and tool attachment plate.

It should be noted that the positioning pin 4 may be provided on the swing head side and the positioning jig 7 may be provided on the base 1 side in order to adjust the origin of the base l and the swing rod 2, without being limited to the illustrated embodiment. In addition, the wrist arm 16 can be adjusted by providing an adjustment surface on the arm side surface in place of the wrist arm positioning pin 22 of the wrist arm 16, and providing a reference surface opposite to this adjustment surface at the tip of the wrist arm adjustment jig 35. The air gap may be adjusted to the standard air gap value, and the air gaps on both sides in the rotation direction may be adjusted to be equal. Similarly, the origin adjustment of the tool mounting arm 17 may be performed using the adjustment surface 23 of the tool mounting arm 17 instead of the adjustment surface 23 of the tool mounting arm 17. A positioning pin may be provided in a direction parallel to the pivot axis of the tool mounting arm 17, and a reference surface may be provided on the tool position adjustment jig 37 that faces the side surface of the positioning pin in the direction of rotation. Also,
In addition to adjusting the origin position of the upper arm 15, the air gap can also be adjusted by making the adjustment surface provided on the side surface of the upper arm 15 face the reference surface at the tip of the adjustment jig (not shown) attached to the origin position adjustment jig.

[Effects of the present invention] As described above, the present invention provides a positioning jig and a positioning pin at a predetermined position of the base and on the side surface of the rotating head that rotates on the base, and connects the reference surface of the positioning jig and the side surface of the positioning pin. The rotating head is aligned with the origin position on the base by facing each other in the rotating direction and adjusting the gap between the opposing surfaces to the reference gap value, and the lower arm reference hole and upper arm reference hole are attached to the rotating head. A wrist arm adjustment jig and a tool position adjustment jig each having a reference surface at the tip are attached to the origin adjustment jig in a removable manner, and Insert the positioning pins fitted into the lower arm basic hole and upper arm reference hole into the adjustment holes of the lower arm and link, respectively, and insert the reference surface of the hand arm adjustment jig into the adjustment surface on the side of the wrist arm. The reference surface of the position adjustment jig is arranged to face the adjustment surface on the side of the tool mounting arm and the adjustment surface of the tool mounting plate in the rotation direction, respectively, and the opposing gap is adjusted to the reference gap value, so the adjustment position of each part of the robot is adjusted. In this process, the adjustment surface provided in accordance with the origin position of each part and the reference surface of the jig are opposed to each other with a gap in between, and the robot is slightly moved to adjust the gap and correct it to a predetermined gap value. The adjustment surface of the robot and the reference surface of the jig do not come into contact with each other, and errors due to impact do not occur. In addition, since the adjustment positions of a plurality of locations are individually adjusted using each part of one origin adjustment jig, there is no accumulation of errors, and there is an effect that precise positioning can be performed.

In addition, by making the wrist arm adjustment jig and tool position adjustment jig fixed to the origin adjustment jig removable and attaching them after the origin adjustment jig is fixed to the rotating head, the origin adjustment jig itself It is possible to reduce the weight of the machine, eliminate deviations in the position of the center of gravity, and facilitate attachment to the rotating head.

[Brief explanation of drawings]

Fig. 1 is a side view showing an embodiment of the present invention during origin adjustment, Fig. 2 is a side view of a deaf person with the origin adjustment jig removed, and Fig. 3 is an exploded view showing origin adjustment of a rotating head according to the present invention. 4 is a sectional view taken along line XX in FIG. 1, FIG. 5 is an exploded perspective view of the origin adjustment jig, FIG. 6 is a sectional view taken along line Y-Y, and FIG.
The figure is a sectional view taken along the Z-Z line. 1 is the base, 2 is the rotating head, 3 is the positioning pin hole, 4
is a positioning pin, 5 is a jig mounting seat, 6 is a reference mounting surface, 7
is the positioning jig, IO is the adjustment surface, 11 is the jig mounting surface, 1
2 is the mounting screw hole, 13 is the lower arm, 14 is the link, 15
is the upper arm, IO is the wrist arm, 17 is the tool mounting arm, 18 is the tool mounting plate, 20 is the lower arm adjustment hole, 21
is the upper arm adjustment hole, 22 is the wrist arm positioning pin, 2
3 is an adjustment surface, 24 is a tool positioning pin, 30 is an origin adjustment jig, 32 is an upper arm reference hole 32, 33 is a lower arm reference hole, 34 is a positioning pin, 35 is a wrist arm adjustment jig, 36 is a wrist 37 is a tool position adjustment jig, 38 is a tool attachment reference surface, and 39 is a tool position adjustment surface.

Claims (1)

[Scope of Claims] 1. A swing head is provided on a base, a lower arm having one end pivoted on a support post of the swing head, an upper arm pivoted on the other end of the lower arm, a lower arm, and an upper arm. A wrist arm that is attached to the upper arm and rotates, a tool attachment arm that is pivotally supported at the tip of the wrist arm, and a tool attachment plate that is rotatably attached to the tool attachment arm. In the industrial robot equipped with the above, a positioning jig is provided at a predetermined position of the base and one side of the rotating head, and a positioning pin is provided on the other side, and the reference surface of the positioning jig and the adjustment surface of the side surface of the positioning pin are opposed to each other in the rotating direction. and adjust the gap between the opposing surfaces to a reference gap value, and fix the origin adjustment jig to the origin adjustment jig, which is removably attached to the rotating head and has a lower arm reference hole and an upper arm reference hole, and the origin adjustment jig. A wrist arm adjustment jig and a tool position adjustment jig each having a reference surface at the tip are provided, and the positioning pin fitted into the lower arm reference hole and upper arm reference hole of the origin adjustment jig is connected to the lower arm. Insert each into the adjustment holes provided at the specified positions of the links, and align the reference surface of the wrist arm adjustment jig with the adjustment surface on the side of the wrist arm.
The reference surface of the tool position adjustment jig is arranged to face the adjustment surface on the side surface of the tool mounting arm and the adjustment surface provided on the tool mounting plate, respectively, in the turning direction, and the opposing gap is adjusted to the reference gap value. Origin position adjustment device for industrial robots. 2. The origin adjustment device for an industrial robot according to claim 1, wherein the origin adjustment jig, the wrist arm adjustment jig, and the tool position adjustment jig are detachably attached.