JPH06790A - Mastering device for industrial robot - Google Patents

Abstract

PURPOSE:To fit a mastering jig fitted on the wrist tip side of the mastering device of an industrial robot to a wrist for mastering actions without removing a tool fitted to the wrist. CONSTITUTION:The end face region is found where the contour section of a tool 18 fitted in the surrounding region of a fitting end face 20 for fitting the tool 18 on the wrist 10 of the frame of an industrial robot is not protruded, this end face is formed as the high-precision mastering jig fitting end face 22 of a mastering jig 8, the mobile side mastering jig 8 is fitted to the mastering jig fitting end face 22 at the time of mastering, and mastering actions are executed by the cooperation with a mating fixed side mastering jig fitted to the base of the robot frame.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mastering device for an industrial robot, and more particularly to a mastering device effectively applied to a laser robot.

[0002]

2. Description of the Related Art Conventionally, industrial robots have been
When the servo motor that forms the drive source for the movable elements such as the swivel body, robot arm, and robot wrist that are provided on the robot body side during the final process of the manufacturing process or when using the robot is replaced, or accidentally, the robot body moves around. When parts are replaced due to mechanical contact with an external device that is placed, calibration that aims to match the predetermined origin posture on the robot body side with the program origin, that is, mastering Is done. Such mastering is also performed for compatibility when the robot machine is replaced with the same program.

Mastering of such an industrial robot is generally provided at the tip of a robot wrist with respect to a mastering jig fixed to a precise reference plane formed in advance on a fixed portion such as a base of a robot body. When the mating mastering jig attached to the tool attachment surface is brought into contact with and positioned, and when both come into contact with each other in a predetermined positioning state, the origin setting input is applied to the robot controller to match the origin of the program. The calibration method that was taken was taken.

[0004]

However, when the industrial robot operating at the site where the robot is used is forced to be replaced due to, for example, a failure of the driving servomotor, the tool attached to the robot wrist must be replaced. Once removed,
After that, the mastering jig had to be mounted and the mastering operation had to be executed. As a result, when the tool is attached to the tool attachment surface of the robot wrist again after mastering is finished, there is a subtle error from the previous attachment state, and there is a problem that the robot work accuracy deteriorates. Removal, installation of mastering jig,
It has a drawback that it is very troublesome for the mastering work by the operator such as reattaching the tool.

In particular, when the industrial robot is a laser robot, coaxial adjustment is performed so that the center line of the laser beam emitting tool attached to the tip of the wrist coincides with the optical axis of the laser beam conduit passing through the robot arm. It is extremely important and it is demanded that the laser beam emitting tool is not removed as much as possible. For example, FIG. 3 shows a structure in which a wrist side mastering jig block 8 of a mastering jig is attached to a mounting end surface 5 for attaching a laser light emitting tool (not shown) on a wrist portion 4 of a laser robot using a position pin 9. An example is shown, and when the mastering jig block 8 is attached and mastering is performed, the emitting tool is removed from the mounting end surface 5, and then the mastering jig block 8 is positioned and mounted. The mastering operation is performed with the mastering jig of the other party, which is fixed to a precise reference surface that is formed in advance on the fixed part such as the base of the robot body.After this mastering operation, the laser beam is emitted again. In the process of attaching the tool, there is a slight deviation from the state before removal, and the laser light reflection mirror 4a of the wrist 4 changes the course and guides. A laser beam with good reproducibility was, may not be focused on the work surface has a problem that occurs.

Therefore, the main object of the present invention is to provide a mastering device for an industrial robot which can solve the above-mentioned problems and can solve the drawbacks. Another object of the present invention is to provide a mastering device which is effective when applied to the mastering of a laser robot.

[0007]

In view of the above-mentioned object, in the present invention, the contour portion of the tool attached to the peripheral region of the attachment end face of the tool attachment on the wrist of the body of the industrial robot is eroded. Find the end face area that does not protrude, form this end face as a highly accurate mastering jig attachment end face of the mastering jig, and use it as a mastering jig attachment end face when necessary without removing the tool from the attachment end face. With the movable side mastering jig attached, with the tool attached, the mastering operation is performed in cooperation with the fixed side mastering jig mounted on the fixed part such as the base side of the robot body. It is a thing.

That is, the present invention uses a fixed mastering jig mounted on a reference surface formed on the fixed portion of the robot body of an industrial robot and a movable mastering jig mounted on the tip of the robot wrist. In the mastering device of the industrial robot for calibrating the origin between the predetermined mechanical posture and the program, the tool attachment surface is located at a different position from the tool attachment surface on the main structure portion of the robot wrist, and the tool attachment surface is different from the tool attachment surface. A mastering jig attachment surface is provided outside the operation area of the tool attached to the surface, the movable mastering jig is attached to the mastering jig attachment surface of the robot wrist, and thus the tool is attached to the robot wrist. It is intended to provide a mastering device for an industrial robot capable of performing a mastering operation as it is.

[0009]

According to the above construction, the tool is always attached to the tool mounting surface of the main structure part of the wrist of the robot, and when the mastering operation is required, the mastering jig mounting surface is permanently installed in the main structure part. It is only necessary to attach the movable mastering jig using the positioning pins and perform the mastering operation. Therefore, the tool attached to the tool mounting surface must be removed at the time of mastering operation, and dust enters the robot body during tool removal.In particular, in the laser robot, the optical system installed in the laser optical path is used. The fear of being adversely affected such as the intrusion of dust and oil droplets that become dirty is eliminated. Hereinafter, the present invention will be described in more detail based on examples.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a partial perspective view showing a structure in which a movable side mastering jig in a mastering device for an industrial robot according to the present invention can be attached to a mastering jig attachment surface different from a tool attachment surface. FIG. 2 is a front view showing a state in which the mastering operation is performed by the cooperation of the movable side mastering jig attached to the main structure part of the wrist and the fixed side mastering jig attached to the base of the robot body.

In FIG. 1, a wrist 10 of an industrial robot, particularly a laser robot, is provided at the tip of a robot arm 36, and a laser beam traveling along a laser optical path inside the robot arm 12 is reflected by a reflecting mirror 14 and the drawing. It is provided as a movable element that is emitted from the laser beam emitting unit 18 via other optical means that does not appear, and has a structure that directs the emitted laser beam in a predetermined direction in accordance with the robot operation. At this time, the laser beam emission unit 18 is configured to be attached to the tool attachment surface 20 of the main structure portion 16 of the wrist 10 having high rigidity using a positioning pin and a fixing screw. In the illustrated example, in order to clearly show the mounting surface structure, the output unit 18 that is a tool is used.
Although shown in a state where the laser beam emitting unit 18 is removed, particularly in the laser robot, the laser beam emitting unit 18 is frequently replaced,
Since it is not attached, it can be understood that the emitting unit 18 is permanently attached to the mounting surface 20.

On the other hand, in addition to the tool mounting surface 20 described above, a mastering jig mounting surface 22 is formed on the main structure portion 16 with a highly accurate reference surface finish. Even if the movable side mastering jig 8 is attached to the surface with the positioning pins 9 and 9, the mastering jig mounting surface 22 causes mechanical interference between the mastering jig 8 and the outer contour portion of the emitting unit 8. It goes without saying that the position that does not wake up is selected in advance. Thus, when the movable-side mastering jig 8 is attached to the mastering jig mounting surface 22 of the main structure portion 16 of the wrist 10 and the mastering operation is performed, it is not necessary to remove the emitting unit 18 from the tool mounting surface 20. The emission unit 18 can avoid the occurrence of an error due to attachment and detachment.

In FIG. 2, the movable side mastering jig 8 is attached to the mastering jig mounting surface 22 of the main structure portion 16 of the wrist 10 as described above, and the movable side mastering jig 8 cooperates with the fixed side mastering jig. It is a figure showing a mechanism when performing a mastering operation. That is, the body of the industrial laser robot 30 is configured to include a base 32 and movable elements such as a swivel body 34 and a robot arm 36 mounted on the base 32. The swivel body 4 has a vertical axis (θ axis). ) The robot arm 36 has an element capable of turning around, and the robot arm 36 has a telescopic structure to move forward and backward in the direction of the straight axis (R axis) and the horizontal axis (U axis).
The laser beam emitting unit 18 is formed in a structure capable of a tilt-up / down-type turning motion, and has a configuration in which the laser beam emitting unit 18 is directed in a desired laser beam emitting direction via the movable wrist 10 provided at the tip of the robot arm 36. There is.

A fixed side mastering jig 40 is detachably attached to the reference surface 32a of the base 32 of the robot body in advance, and a plurality of fixed side mastering jigs 40 are held during the mastering operation. The movable side mastering jig 8 on the wrist side is sequentially brought into contact with the gauge 42 to set the reading of the gauge 42 to a predetermined origin scale value. At that time, the origin is set in a robot controller (not shown) to perform mastering. It carries out an operation.

The embodiments described above have been described for the laser robot. However, the tool attached to the tool attachment surface and the mastering jig attached to the mastering jig attachment surface in the main structure portion of the robot wrist are mechanical. Needless to say, the present invention can be applied to various industrial robots without being limited to the laser robot, as long as it does not interfere with.

[0016]

As is apparent from the above description, according to the present invention, the contour portion of the tool attached to the periphery of the attachment end face of the tool attachment on the wrist portion of the body of the industrial robot is eroded. Find the end face area that does not protrude, form this end face as a highly accurate mastering jig attachment end face of the mastering jig, and attach it to the mastering jig attachment end face when necessary without removing the tool from the attachment end face. With the movable side mastering jig attached, with the tool attached, the mastering operation is performed in cooperation with the fixed side mastering jig mounted on the fixed part such as the base side of the robot body. Therefore, it becomes easy to perform the mastering operation itself, and it is possible to avoid the occurrence of an error due to the attachment and detachment of the tool, especially in the laser beam emitting unit. , It is possible to maintain the operating performance of the industrial robot to a high level, and it is possible to prevent a reduction in working efficiency.

Further, in the case of a laser robot, according to the present invention, since the laser beam emitting unit as a tool is not removed from the wrist, it is possible to eliminate the fear of contaminating the internal optical system. However, the high performance of the laser robot is not impaired and the mastering operation can be easily performed as needed.

[Brief description of drawings]

FIG. 1 is a partial perspective view showing a structure in which a movable-side mastering jig in a mastering device for an industrial robot according to the present invention can be attached to a mastering jig attachment surface different from a tool attachment surface.

FIG. 2 is a front view showing a state in which a mastering operation is performed by cooperation between a movable side mastering jig attached to a main structure part of a wrist and a fixed side mastering jig attached to a base of a robot body. .

FIG. 3 is a partial perspective view showing the structure of a mastering jig attached to the wrist side of a conventional industrial robot.

[Explanation of symbols]

 8 ... Movable side mastering jig 9 ... Positioning pin 10 ... Wrist 16 ... Main structure part 18 ... Emitting unit 20 ... Tool mounting surface 22 ... Mastering jig mounting surface 32 ... Base 40 ... Fixed side mastering jig

Claims (1)

[Claims] 1. A predetermined machine of a robot body using a fixed mastering jig mounted on a reference surface formed on a fixed portion of a robot body of an industrial robot and a movable mastering jig mounted on a tip of a robot wrist. In a mastering device of an industrial robot for calibrating an origin between a physical posture and a program, a tool mounting surface is mounted on the main surface of the robot wrist at a position different from the tool mounting surface and the tool mounting surface. A mastering jig mounting surface is provided outside the operation area of the tool, and the movable mastering jig is mounted on the mastering jig mounting surface of the robot wrist, so that the mastering operation can be performed while the tool is mounted on the robot wrist. A mastering device for an industrial robot, which is characterized by being able to perform.