JPH0592381A - Inspection jig for mechanical original point of robot - Google Patents

Abstract

PURPOSE:To enhance the degree of accuracy for the positioning of an original point of a five-axial robot having a control point which can take three- dimensional posture, providing a positionally inspecting means for inspecting the coincidence between first and second axes, the orthognality of second to fourth axes and the levelness of the fourth and fifth axes. CONSTITUTION:Upon original point adjusting operation, at first, a turn table reference plane 2a and center arm reference surfaces 3a, 3b are positionally adjusted in one and the same plane so as to determine an perpendicular zero degree from the first and second axes 2, 3. Check bars 10, 12 which form a bilateral triangle in pairs are combined, and thereafter, a front arm 5 is positioned so that its reference diameter 5 makes contact with a height bar 14 for determining a right angle between the second and fourth axes 3, 5. Thereafter, the front arm 5 is rotated so as to make a dummy working head 6 (fifth axis) abutting against the height bar 13 so as to obtain a position for the horizontal zero degree of the front arm 5. Then, the head 6 is rotated in a direction B to position a dummy pin 6a and the front end part of a check bar 11 so that they can be connected together by means of a slide bar 17 in order to determine a position for the horizontal zero degree in the direction B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a machine origin inspection jig for a robot (hereinafter referred to as a machine origin inspection jig).

[0002]

2. Description of the Related Art FIG. 5 is Japanese Patent Laid-Open No. 63-278787, and FIG.
It relates to the conventional mechanical origin inspection jig shown in -3793. In Fig. 5, 1 is a movable part, 2 is a non-movable part, 3 is a pin-shaped jig, and 5 and 6 are high precision round holes. In FIG. 6, 3 and 5 are a pair of adjacent joint center points, 7 and 9 are a pair of holes provided at the joint center points, 11 and 13 are pins, 15 is a jig having a flat surface, 25 Is a level.

Next, the operation of origin adjustment will be described.
First, in FIG. 5, the origin of the robot is aligned by inserting a pin-shaped jig 3 between the high-precision round holes 5 and 6 provided in the movable portion 1 and the non-movable portion 2 of the joint connecting portion. It is designed to improve accuracy. FIG. 6 shows that a pair of adjacent joint center points 3 and 5, that is, pins 7 and 9 are inserted into the holes 7 and 9, and a jig 15 having a flat surface is placed on the pin 11 and 13, and further, a spirit level is provided thereon. By placing 25, the levelness of the line connecting the joint center points can be obtained. Since the conventional mechanical origin inspection jig is configured as described above as an example, any of the above methods usually requires partial origin alignment at an intermediate point up to the control point on the tip of the wrist. there were. On the other hand, the one disclosed in JP-A-3-121792 as an improvement of the above-mentioned conventional technique is such that, at the adjustment position of each part of the robot, the adjustment surface provided according to the origin position of each part and the reference surface of the jig are separated by a gap. There is also an example in which the robot is finely moved to adjust the gap and the gap value is corrected to a predetermined gap value, so that adjustments at a plurality of points are performed at respective portions of the origin adjusting jig.

[0004]

Since the conventional mechanical origin inspection jig is constructed as described above, since the longest arm of the robot is in the vertical posture, the origin of the origin can be set in the state where the elastic deformation of the arm is minimum. While the robot is being adjusted, when the robot is actually used, the arm is usually horizontal and the deformation of the arm cannot be ignored. Therefore, the accuracy of the origin adjustment may be deteriorated. In particular, the above tendency becomes more remarkable as the robot arm becomes longer.

The present invention has been made in order to solve the above problems, and provides a mechanical origin inspection jig capable of mechanical origin alignment near a control point as much as possible in consideration of elastic deformation of an arm. The purpose is to get.

[0006]

A machine origin inspection jig for a robot according to a first aspect of the present invention has at least 5 axes, and a control point P has a three-dimensional posture. And 2 axes vertically, 3 axes and 4 axes horizontally, and 5 axes at horizontal zero degree, on both the reference planes of the 1st and 2nd axes of the robot. A straight first side that coincides with the first side and a second side that is orthogonal to the first side and is parallel to the three axes are arranged linearly, and the degree of coincidence between the first axis and the second axis is 2 axes, 3 axes and 4
It has a position inspection means for inspecting the degree of orthogonality with respect to the axes and for inspecting the levelness of the four and five axes.

The position inspecting means of the mechanical origin inspection jig of the robot according to the second aspect of the invention is arranged parallel to both of the reference planes formed on the 1-axis and 2-axis, respectively. And a first bar which is aligned to obtain a degree of coincidence with the first bar, and one end of which is attached to the first bar in parallel with the three axes and four rotatable axes which are on the same axis as the three axes. A second bar provided, one end of which is joined to the first bar and the other end of which is joined to the second bar, and the right and left triangles form a right triangle together with the first and second bars. Located on the longest side of the above-mentioned 2 axis so that the 2 axis and the 3 axis and the 4 axis are orthogonal to each other.
A third bar for aligning the axis with the three and four axes;
The horizontal zero degree of the four axes is inspected on the basis of the reference plane formed on the four axes, which is attached in the vicinity of the joint portion between the second bar and the third bar, and the above is determined on the basis of the reference planes existing on the five axes. It is provided with a height bar for inspecting the levelness of the control points P of the five axes.

[0008]

The position inspecting means in the first aspect of the present invention includes a single axis
Check the degree of coincidence of the axes, the degree of orthogonality of the axes 2 and 3, and 4 and the horizontal zero degree of the axes 4 and 5.

In the second invention, the first bar has one shaft and two shafts.
Alignment of the axes is checked and 2 by the right triangle and the height bar by joining the first bar, the second bar and the third bar.
Axis and 3 axes and 4 rotatable on the same axis as these 3 axes
The orthogonality of the axes is inspected, and further, the control points P existing on the 4th axis and the 5th axis are inspected by the right triangle and the height bar.

[0010]

【Example】

Example 1. 1 to 3 are configuration diagrams showing attachment of a machine origin inspection jig according to the present invention, FIG. 1 is a side view thereof, FIG. 2 is a plan view thereof, and FIG. 3 is a left side view of FIG. ..
FIG. 4 is a partial perspective view of the machine origin inspection jig. In the figure, 1 is a base fixed on the floor, 2 is a turntable that is a single axis supported so as to be freely rotatable with respect to the base 1, and 2a is L from the robot center on both front sides of the turntable 2. A turntable reference surface machined to a size of ₁ , a center arm 3 which is a biaxially supported above the turntable 2 so as to be freely rotatable in the front-rear direction, and 3a and 3b are located below the center arm 3. A reference plane that is machined in the same plane as the dimension L ₁ from the center of the robot above, 4 is a three-axis front arm A and 5 that is supported above the center arm 3 so as to be vertically rotatable. The front arms B and 5a, which are four axes that are contained in the front arm A4 and are supported so as to be freely rotatable in the S direction, are cylindrical front arm B reference diameters provided at the front part of the front arm B5. Is.

Reference numeral 6 denotes a dummy machining head which is attached to the front end of the front arm B5 and is free to rotate in the B direction. The dummy machining head 6a is inserted into the rotation center of the dummy machining head 6 and then fixed. In the dummy pin, the front portion has a conical tip portion indicating the control point P, and the rear portion has a collar portion and a guide shaft portion. Reference numeral 7 is an external optical path tube through which the laser beam passes, 8 is a lower bend mirror unit, and 9 is an upper bend mirror unit. 10 is the first side and the first bar is check bar A, 11 is the dummy pin 6 at the front end
It is a second side and a second bar which is provided with a projecting portion for aligning with the rear guide shaft end portion of a and has a projecting portion for positioning with the center arm 3 at the rear end thereof. Check bars B and 12 are the third bar, check bar C. As an example, they are processed to have dimensions such that they are highly accurate isosceles triangles, and are set by pins 15 and screws 16 (other than screws 16 not shown).

Numeral 13 is a height bar A which is a second height bar attached to the upper end of the check bar B11 and having an elongated protrusion for confirming the alignment of the dummy machining head 6. S-direction position of the front arm B5 when dimension L ₃ when the contact is set to be horizontal zero. 14 is a height bar B which is the first height bar attached to the upper part of the height bar A13.
Dimension L ₂ when the reference diameter 5a of front arm B5 contacts it
At this time, the center arm 3 and the front arm B5 are at right angles. Here, the combination of the first height bar and the second height bar is called a height bar. Check bar A1 for 16 after aligning the turntable reference surface 2a and the center arm reference surfaces 3a and 3b on the same line.
A mounting screw for fixing 0 to the center arm 3 and a slide bar 17 for checking the horizontal zero degree alignment between the dummy pin 6a and the check bar B11.

Next, the operation of origin adjustment will be described.
First, since the turntable reference surface 2a and the center arm reference surfaces 3a and 3b are machined with high precision to the dimension L ₁ from the center of the robot, they are aligned so that they are on the same plane by the check bar A10. As a result, the vertical zero degree of the turntable 2 and the center arm 3 is determined. First, as an example, check bar A10, check bar B11, and check bar C12, which are processed to have mutually high-precision isosceles triangles, are provided with a pin 15, a screw 16, etc.
Height bar A1
3. Attach the height bar B14 in order. After that, the reference diameter 5a of the front arm B5 is positioned so as to be in contact with the height bar B14, whereby the right angle between the center arm 3 and the front arm B5 is determined.

After that, the front arm B5 is rotated in the S direction and positioned so that the cylindrical portion of the dummy machining head 6 contacts the height bar 13, so that the position of the front arm B5 at the horizontal zero degree in the S direction is determined. Then, the dummy machining head 6 is rotated in the B direction, and the dummy pin 6a and the check bar B11.
By positioning the tip protruding portion of the wrist so that it can be connected by the slide bar 17, the position of the wrist at the horizontal zero degree in the B direction is determined.

As described above, the present invention has been described by using a pair of right and left isosceles triangular jigs as an example as shown in FIG. 3, but the same effect can be obtained by using only one of the left and right pair. Is obvious. Furthermore, more accurate control point P since the arm length of the combined front arm A4 and the front arm B5 can also be checked by measuring the gap L ₄ CHECK bars B11 and dummy pins 6a which is processed with high precision can get.

Although the reference planes 3a, 3b, 3c have been described as being machined to have the same L ₁ dimension, the reference planes 3a, 3b and the reference plane 3c do not necessarily have the same dimension. If the above dimensions are different, the check bar A10 is attached to the reference planes 3a and 3b so that the difference between the reference planes 3a and 3b and the reference plane 3c is a predetermined distance determined by the operator so that the vertical Because zero is decided.

[0017]

According to the present invention, the degree of coincidence between one axis and two axes and two
Since the machine origin of the control point P can be aligned by the position inspection means that inspects the orthogonality of the 3rd axis and the 4th axis, and the horizontal zero degree of the 4th axis and the 5th axis, the accuracy of the origin alignment is good. There is an effect that can be obtained.

[Brief description of drawings]

FIG. 1 is a side view showing a mounting structure according to an embodiment of a machine origin inspection jig of the present invention.

FIG. 2 is a plan view similar to FIG.

FIG. 3 is a left side view similar to FIG.

FIG. 4 is a partial perspective view of a mechanical origin inspection jig according to an embodiment of the present invention.

FIG. 5 is a perspective view of a conventional mechanical origin inspection jig.

FIG. 6 is a perspective view of a conventional mechanical origin inspection jig.

[Explanation of symbols]

 2 1-axis (turntable) 3 2-axis (center arm) 4 3-axis (front arm A) 5 4-axis (front arm B) 6 5-axis (dummy machining head) 10 1st bar 11 2nd bar 12 Third bar 13 Second height bar 14 First height bar

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location G05D 3/10 G 9179-3H

Claims (2)

[Claims] 1. A control point P having at least 5 axes.
In a vertical articulated robot that takes a three-dimensional posture,
Positioning the 1st and 2nd axes vertically and the 3rd and 4th axes horizontally,
And, with the 5 axes positioned at horizontal zero degrees, a straight first side that coincides with both the reference planes of the 1st axis and the 2nd axis of the robot, and is orthogonal to the first side. , Above 3
The axis is arranged in a straight line on the second side parallel to the four axes, and the degree of coincidence between the first axis and the second axis and the orthogonality between the second axis, the third axis and the fourth axis are inspected. A machine origin inspection jig for a robot, which has a position inspection means for inspecting the horizontality of the five axes. 2. The position inspecting means is arranged parallel to both reference planes formed on each of the 1-axis and 2-axis, and performs the alignment to obtain the degree of coincidence between the 1-axis and the 2-axis. 1 bar, a second bar having one end attached to the first bar and the second bar arranged parallel to the three axes and four rotatable axes that are on the same axis as the three axes, and one end The first bar and the other end thereof are joined to the second bar, form a right triangle together with the first and second bars, and are located on the longest side of the right triangle. The third bar that aligns the two axes with the third axis and the fourth axis so that the axes and the four axes are orthogonal to each other, and is attached near the joint between the second bar and the third bar. The horizontal zero degree of the four axes is inspected based on the reference plane formed on the four axes, and the control of the five axes is performed based on the reference plane existing on the five axes. 2. The machine origin inspection jig for a robot according to claim 1, comprising a height bar for inspecting the levelness of the control point P.