JPH07241788A - Laser sensor measuring device - Google Patents

Abstract

PURPOSE:To enable the high precision detection of workpiece slippage by providing a CPU for averaging sensing data from a sensor head per several blocks in a memory while storing them in the memory, and also outputting an error to a basic workpiece to an external device. CONSTITUTION:A peripheral device 7 such as a CPU connected to a robot 1 has an A-D converter 7a for converting data from a laser sensor 3, a CPU 7b, a memory 7c and an auxiliary memory 7d, and is provided with a display 7e and a printer 7f. In the A-D converter 7a, voltage proportional to the processing of analogue detected by the laser sensor 3 is converted into the digital value. The CPU 7b performs sampling every time interval assigned optionally and stores in the auxiliary memory 7d every one block of the memory 7c. The data taken in by the laser sensor 3 is made one data by putting sequential several blocks of the memory 7c in one lot, and then the average of the several blocks is computed while further advancing so as to eliminate noise caused by disturbing elements.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser sensor measuring device for measuring a work deviation or a position deviation of a work, or a work shape error.

[0002]

2. Description of the Related Art When machining a workpiece by a robot, it is necessary to measure the amount of workpiece deviation.
It is necessary to perform this shift amount without error. The conventional work shift amount is obtained by calculating on the robot coordinates using a high precision switch and a robot program.

However, it suffices if the high-precision switch is applied vertically to the work piece with respect to the measuring point, but if the measuring point is slightly inclined or the measuring point is rounded, the tip of the switch slips and a measurement error occurs. It gets bigger. Moreover, an error occurs in relation to the movement of the robot and the reproducibility of the teaching point, only by the measurement on the robot coordinates. Further, there is a problem that the measurement of the work deviation can be understood only by an expert who can create a robot program and can perform teaching in connection with the above.

In view of the above problems, it is an object of the present invention to provide a laser sensor measuring device capable of reducing the measurement error and judging the measurement result by anyone.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a sensor head which is detachably attached to an automatic tool changer for a robot hand and which can perform a sensing operation by the movement of this hand, and this sensor. A CPU for storing the sensing data by the head in a memory, averaging the data in several blocks in the memory, and outputting an error from a basic work to an external device.

[0006]

The sensor head is removably attached to the hand capable of running with high precision, and the sensor head is moved to remove disturbances and to improve accuracy in comparison with the basic work.

[0007]

Embodiments of the present invention will now be described with reference to FIGS. FIG. 1 shows an example of a robot and a work. An automatic tool changer 2 is provided on the hand at the tip of the robot 1.
In the automatic tool changer 2, a laser sensor 3 to which a tool plate is attached is replaceably attached together with an amplifier unit 4. In this case, the use of the automatic tool changer 2 facilitates attachment and detachment of the laser sensor 3, and on / off of sensing by the laser sensor 3 can be performed using an operation panel of a robot control panel (not shown). it can. In FIG. 1, a long tube is illustrated as the work 5, and the work error and the positioning error are measured by the verification of removing the oxide film of the groove 6,
It compensates for differences in processing.

As shown in FIGS. 2 and 3, the peripheral device 7 such as a CPU connected to the robot 1 has a converter 7a for A / D converting data from the laser sensor 3, a CPU 7b, a memory 7c and an auxiliary memory 7d. Display 7e,
The printer 7f is provided. The A-D converter 7a converts a voltage proportional to the analog distance detected by the laser sensor 3 into a digital value. The CPU 7b samples at each arbitrarily designated time interval and stores the data in the auxiliary memory 7d for each block of the memory 7c.

In this case, the data taken in by the laser sensor 3 is combined into a block of several blocks before and after the memory 7c to be collected as 1 block.
If data is used and the average of several blocks is output while proceeding further, noise due to disturbance elements can be removed.
That is, if several blocks are collectively averaged and advanced one block at a time, one block is added and one block is removed and the average of several blocks is always taken, a value without disturbance can be obtained as shown in FIG.

In this way, when the basic work is measured by the laser sensor 3 traveling, the correction calculation of the error in the robot program can be surely performed by measuring the other work and comparing it with the basic work, and as a result, FIG. As described above, the error of the work can be reduced. In this case, the positioning of the sensor head 3 of the hand and the actual running of the sensor head 3 can clearly determine the coordinate position, the disturbance element can be removed by taking an average, and the CPU 7b can execute the high-speed graph processing program. By inserting, the result can be judged immediately and the error resulting from the comparison with the basic work can be clearly measured.

[0011]

As described above, according to the present invention, the measurement error of the workpiece deviation online is reduced, the machining can be performed accurately, and the positioning error can be easily measured. Even non-specialists can easily judge, disturbance elements can be removed, and high-speed graph processing is also possible.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a robot and a work.

FIG. 2 is a configuration diagram of a laser sensor and its peripheral devices.

FIG. 3 is an enlarged view of peripheral devices.

FIG. 4 is a characteristic diagram showing disturbance element removal.

FIG. 5 is a characteristic diagram of an error from a reference work.

[Explanation of symbols]

 1 Robot 2 Automatic Tool Changer 3 Sensor Head 4 Amplifier Unit 5 Work 7 Peripheral Device 7a A / D Converter 7b CPU 7c Memory 7d Auxiliary Memory

Claims (1)

[Claims] 1. A sensor head which is removably attached to an automatic tool changer for a robot hand and which can perform a sensing operation by the movement of the hand, and a sensing head which stores sensing data by the sensor head in the memory. CPU that averages over several blocks and outputs the error from the basic work to an external device
And a laser sensor measuring device having.