JPH05233065A - Precise positioning device - Google Patents
Precise positioning deviceInfo
- Publication number
- JPH05233065A JPH05233065A JP4033087A JP3308792A JPH05233065A JP H05233065 A JPH05233065 A JP H05233065A JP 4033087 A JP4033087 A JP 4033087A JP 3308792 A JP3308792 A JP 3308792A JP H05233065 A JPH05233065 A JP H05233065A
- Authority
- JP
- Japan
- Prior art keywords
- correction
- robot
- data
- axis
- coordinates
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は部品組立装置において、
精密位置決めのための補正計算手段を備えた位置決め装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a positioning device having a correction calculation means for precise positioning.
【0002】[0002]
【従来の技術】近年電子部品の組立装置では、絶対位置
精度が要求されるようになってきている。図4および図
5は部品組立装置に使用される位置決めロボットであ
り、1はロボットY軸、2はX軸、3はボールねじナッ
ト一体スライダー13に取付けられたブラケット、4,
5はブラケット3に取付けられた認識カメラと部品吸着
ヘッドである。ロボットY軸1は、モータ6、ボールね
じ7、直線ガイド8、ボールねじナット一体スライダー
9よりなる。モータ6の回転がボールねじ7に伝わり、
その回転がボールねじナット一体スライダー9によって
直線運動に転換され、直線ガイド8に沿ってボールねじ
ナット一体スライダー9が動く。ロボットX軸2は、モ
ータ10の回転がボールねじ11に伝わり、その回転が
ボールねじナット一体スライダー13によって直線運動
に転換され、ボールねじナット一体スライダー13に取
付けられたブラケット10が直線ガイド12に沿って動
く。認識カメラ4は図3のプリント基板14上の認識点
Ps15およびPe16の位置を認識し、補正計算手段1
7はそれによりロボットのXY座標とプリント基板上の
XY座標との位置関係を算出し図3に示すフローでロボ
ットの位置補正を行っていた。まず、ロボットをロボッ
ト座標R1(R1x,R1y)に位置決めし、その時の部
品吸着ヘッド5のプリント基板座標P1(P1x,P
1y)をレーザ測定器で測定する。この測定を多数回繰
り返してロボット座標と部品吸着ヘッド5のプリント基
板座標との対応テーブルを作成し補正計算手段17はそ
れを記憶する。この対応テーブルは離散値であるのでそ
の中間にある点の補正の方法をX軸方向を例にして以下
に説明する。部品を装着したい点をP(Px,Py)とす
ると、上記の対応テーブルからRix≦Px≦P(i+1)xと
なるiを見つける。Pixに対応するロボット座標を
Rix、P(i+1)xに対応するロボット座標をR(i+1)xとす
ると、(数1)で求められるRxがPxに対応するロボッ
ト座標であるとする。Y軸方向についても同様である。2. Description of the Related Art In recent years, absolute position accuracy has been required in electronic component assembling apparatuses. 4 and 5 show a positioning robot used in a component assembling apparatus, in which 1 is a robot Y axis, 2 is an X axis, 3 is a bracket attached to a ball screw nut integrated slider 13, 4,
Reference numeral 5 denotes a recognition camera attached to the bracket 3 and a component suction head. The robot Y-axis 1 includes a motor 6, a ball screw 7, a linear guide 8, and a ball screw nut integrated slider 9. The rotation of the motor 6 is transmitted to the ball screw 7,
The rotation is converted into a linear movement by the ball screw / nut integrated slider 9, and the ball screw / nut integrated slider 9 moves along the linear guide 8. In the robot X-axis 2, the rotation of the motor 10 is transmitted to the ball screw 11, and the rotation is converted into a linear motion by the ball screw nut integrated slider 13, and the bracket 10 attached to the ball screw nut integrated slider 13 becomes the linear guide 12. Move along. The recognition camera 4 recognizes the positions of the recognition points P s 15 and P e 16 on the printed circuit board 14 of FIG.
7 calculates the positional relationship between the XY coordinates of the robot and the XY coordinates on the printed circuit board, and corrects the position of the robot according to the flow shown in FIG. First, the robot is positioned at the robot coordinates R1 (R1 x , R1 y ) and the printed board coordinates P1 (P1 x , P) of the component suction head 5 at that time are positioned.
1 y ) is measured with a laser measuring instrument. This measurement is repeated many times to create a correspondence table between the robot coordinates and the printed board coordinates of the component suction head 5, and the correction calculation means 17 stores it. Since this correspondence table is a discrete value, a method of correcting a point in the middle thereof will be described below by taking the X-axis direction as an example. Letting P (P x , P y ) be the point at which the component is to be mounted, the i that satisfies R ix ≤P x ≤P (i + 1) x is found from the above correspondence table. When the robot coordinate corresponding to P ix is R ix and the robot coordinate corresponding to P (i + 1) x is R (i + 1) x , the robot whose R x obtained by (Equation 1) corresponds to P x Let's say it's coordinates. The same applies to the Y-axis direction.
【0003】[0003]
【数1】 [Equation 1]
【0004】[0004]
【発明が解決しようとする課題】しかし上記の構成で
は、ロボット座標とプリント基板上の座標の対応表を作
成する際に、ヘッドの座標を測定するレーザ測定器等の
高価な装置を必要とし、かつ測定に長時間を要する。ま
た、補正の際に離散データPiを比例配分しているので
補正精度を向上しようとすれば離散データの数を多くす
る必要があり、さらに測定時間が長くなる。However, the above configuration requires an expensive device such as a laser measuring device for measuring the coordinates of the head when creating the correspondence table between the robot coordinates and the coordinates on the printed circuit board. Moreover, the measurement requires a long time. In addition, since the discrete data P i is proportionally distributed during correction, it is necessary to increase the number of discrete data in order to improve the correction accuracy, which further increases the measurement time.
【0005】本発明は、上記従来の課題を解決するもの
で、簡単にしかも精度良く位置決めが行える精密位置決
め装置を提供することを目的とする。The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide a precision positioning device that can perform positioning easily and accurately.
【0006】[0006]
【課題を解決するための手段】上記目的を達成するため
に、本発明の精密位置決め装置は、対象とする軸の真直
度の離散データをスプライン補間し、得られた曲線の微
係数を用いて対象とする点の位置を、位置の誤差が許容
値以下になるまで補間計算を繰り返して算出する補正計
算手段を備えている。In order to achieve the above object, the precision positioning apparatus of the present invention uses spline interpolation of discrete data of straightness of a target axis and uses a derivative of the obtained curve. There is provided a correction calculation means for calculating the position of the target point by repeating the interpolation calculation until the position error becomes equal to or less than the allowable value.
【0007】[0007]
【作用】上記手段によって軸心のゆがみから生じる真直
度誤差の影響は排除される。By the above means, the influence of straightness error caused by the distortion of the shaft center is eliminated.
【0008】[0008]
【実施例】以下、本発明の一実施例を図面を参照しなが
ら説明する。本発明の精密位置決め装置のハードウェア
の構成の外観は図4および図5に示した従来のものと同
じであるが、補正計算手段17の機能は従来と違ってい
る。図1は本発明の精密位置決め装置が備えている補正
計算手段17が行う位置補正計算のフローチャートで、
従来の技術の項と同じくX軸方向の位置決めを例として
説明している。まずロボットを移動させながら、部品吸
着ヘッド5の先端の軌跡を測定する。軌跡はX軸に沿っ
て真直であるべきであるが実際は図2のように多少まが
っている。補正計算手段17はこの真直度データの離散
値を記録し、このデータをスプライン補間法で以下のよ
うに補正する。ロボットが部品装着を行う場合は図4に
示すように認識用カメラ4がプリント基板上の認識点1
5(Ps)と認識点16(Pe)の位置を認識し、その時
のロボット座標をそれぞれRs(Rsx,Rsy)およびRe
(Rex,Rey)とする。上記認識点を基準として座標P
(Px,Py)に部品を装着する場合のロボット座標は以
下の手順により求める。まず(数2)により仮のRxを
求める。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. The external appearance of the hardware configuration of the precision positioning device of the present invention is the same as the conventional one shown in FIGS. 4 and 5, but the function of the correction calculation means 17 is different from the conventional one. FIG. 1 is a flowchart of the position correction calculation performed by the correction calculation means 17 provided in the precision positioning device of the present invention.
The positioning in the X-axis direction is described as an example as in the case of the related art. First, the locus of the tip of the component suction head 5 is measured while moving the robot. The locus should be straight along the X-axis, but in reality it is somewhat curved as in FIG. The correction calculation means 17 records the discrete value of the straightness data and corrects this data by the spline interpolation method as follows. When the robot mounts the parts, the recognition camera 4 moves to the recognition point 1 on the printed circuit board as shown in FIG.
The positions of 5 (P s ) and the recognition point 16 (P e ) are recognized, and the robot coordinates at that time are R s (R sx , R sy ) and R e, respectively.
(R ex , R ey ). Coordinate P based on the above recognition point
The robot coordinates when the component is mounted on (P x , P y ) are obtained by the following procedure. First, a tentative R x is obtained by (Equation 2).
【0009】[0009]
【数2】 [Equation 2]
【0010】ロボット座標がRxの時に、部品装着が行
われる点の座標Px′は(数3)である。When the robot coordinate is R x , the coordinate P x ′ of the point where the component is mounted is (Equation 3).
【0011】[0011]
【数3】 [Equation 3]
【0012】Px′とPxの差が所定の値ε以上である場
合はRxを(数4)の値に変更する。If the difference between P x 'and P x is greater than or equal to the predetermined value ε, R x is changed to the value of (Equation 4).
【0013】[0013]
【数4】 [Equation 4]
【0014】そしてフローを(数3)へ戻って再び
Px′を求める。この計算をPx′とPxの差が所定の値
εより小さくなるまで繰り返す。このようにして算出し
たロボット座標Rxの点にロボットを位置決めすると目
標とする点Pxに部品が実装できる。なお、この実施例
では真直度データの補正にスプライン補間を行ったが、
その他の補間方法を用いるのも可能である。Then, the flow returns to (Equation 3) and P x ′ is obtained again. This calculation is repeated until the difference between P x ′ and P x becomes smaller than the predetermined value ε. When the robot is positioned at the point of the robot coordinate R x calculated in this way, the component can be mounted at the target point P x . In this embodiment, spline interpolation was performed to correct the straightness data,
It is also possible to use other interpolation methods.
【0015】[0015]
【発明の効果】以上の説明で明らかなように、本発明の
精密位置きめ装置は、比較的簡単に行える測定により位
置決め装置の真直度を離散データとして測定し、その離
散データの補正データの微係数を用いて位置補正を、誤
差が許容値以下になるまで繰り返す補正計算手段を備え
ることにより、絶対位置精度を保証する位置決めを容易
に可能としている。As is clear from the above description, the precision positioning device of the present invention measures the straightness of the positioning device as discrete data by the measurement that can be performed relatively easily, and the correction data of the discrete data is finely divided. By providing the correction calculation unit that repeats the position correction using the coefficient until the error becomes equal to or less than the allowable value, it is possible to easily perform the positioning that guarantees the absolute position accuracy.
【図1】本発明の精密位置決め装置が備えている補正計
算手段が行う位置補正計算のフローチャートFIG. 1 is a flowchart of position correction calculation performed by a correction calculation unit included in a precision positioning device of the present invention.
【図2】真直度測定を説明する図FIG. 2 is a diagram illustrating straightness measurement.
【図3】従来の位置決め計算のフローチャートFIG. 3 is a flowchart of conventional positioning calculation.
【図4】位置決めロボットの斜視図FIG. 4 is a perspective view of a positioning robot.
【図5】位置決めロボットの上面図FIG. 5: Top view of positioning robot
1 Y軸 2 X軸 4 認識カメラ 5 吸着ヘッド 15,16 認識点 17 補正計算手段 1 Y-axis 2 X-axis 4 Recognition camera 5 Suction head 15, 16 Recognition point 17 Correction calculation means
Claims (1)
として測定し、その離散データを補正して得たデータの
微係数を用いて位置の補正値を算出する補正計算手段を
備えた精密位置決め装置。1. A precision positioning device equipped with correction calculation means for measuring straightness data of a positioning device as discrete data and calculating a position correction value using a differential coefficient of the data obtained by correcting the discrete data. ..
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4033087A JPH05233065A (en) | 1992-02-20 | 1992-02-20 | Precise positioning device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4033087A JPH05233065A (en) | 1992-02-20 | 1992-02-20 | Precise positioning device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH05233065A true JPH05233065A (en) | 1993-09-10 |
Family
ID=12376907
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4033087A Pending JPH05233065A (en) | 1992-02-20 | 1992-02-20 | Precise positioning device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH05233065A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003105557A1 (en) * | 2002-06-05 | 2003-12-18 | Siemens Aktiengesellschaft | Method for measuring the deformation of a flat positioning device |
JP2017170599A (en) * | 2016-03-25 | 2017-09-28 | ファナック株式会社 | Positioning device using robot |
-
1992
- 1992-02-20 JP JP4033087A patent/JPH05233065A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003105557A1 (en) * | 2002-06-05 | 2003-12-18 | Siemens Aktiengesellschaft | Method for measuring the deformation of a flat positioning device |
JP2017170599A (en) * | 2016-03-25 | 2017-09-28 | ファナック株式会社 | Positioning device using robot |
US10525598B2 (en) | 2016-03-25 | 2020-01-07 | Fanuc Corporation | Positioning system using robot |
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