JPH0750410B2 - Robot coordinate correction device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, and more particularly to a device for correcting working coordinate points into robot coordinate system coordinates of the robot.

In the conventional industrial robot, when inputting the coordinate data of the positioning point, the arm portion at the tip of the robot is manually moved to the actual positioning point and the data is input there. It was done by the work called teaching.

However, teaching a large number of positioning points takes an enormous amount of time, and troubles such as hitting the arm part with a work or peripheral device easily occur during teaching, which is a major obstacle in using the industrial robot. It was

An object of the present invention is to provide a robot in which the coordinates of a positioning point of a robot are known in advance with respect to a certain coordinate system (work coordinate system) on the work,
Regarding these coordinates, the data is directly input and the coordinates are corrected, so that it is possible to avoid the trouble of teaching the positioning point.

Structure of the Invention As shown in FIG. 1, the structure of the present invention is such that coordinate points P ₁ ⁱ ,
If P ₂ ⁱ , ... is known in advance, the robot coordinate system x
-Y a working coordinate system x ⁱ -y ⁱ and the relative positional relation X ^i, the Y ^i, δ ⁱ work coordinate system x ⁱ -y ⁱ origin o ⁱ and arbitrary point p _x ⁱ on the x ⁱ axis Calculated by teaching, and points on the coordinate system x ⁱ −y ⁱ
If p ₁ ⁱ , p ₂ ⁱ , ... p _m ⁱ are input to the robot controller as they are, data for the robot coordinate system xy is obtained, and the coordinate points p ₁ ⁱ , p ₂ ⁱ , ... That is the solution.

Description of Embodiments An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 2, the numerical controller 1 is composed of a data input device 11, an arithmetic unit 12, and a storage device 13. During positioning execution, the positioning data retrieved from the storage device 13 is input to the drive device 2 in order. The drive device 2 drives the arm portion 3 at the tip of the robot based on the input data. The manual operation device 4 is provided with a switch for freely moving the arm part 3 over the entire operation range. At this time, the numerical controller 1 always operates the robot coordinate system regardless of the position of the arm part 3. It is configured so that the coordinates of the current position with respect to can be known.

Next, the method of coordinate correction will be described with reference to FIGS. 1, 2, and 3. This is an example in which there are two working coordinate systems and correction of coordinates is required only in the xy plane.

Robot initially has been an orthogonal coordinate system are x-y, 'origin o of' coordinate system x'-y on the work, x 'an arbitrary point of the axis p _x'
Then, by teaching o ′, p _x ′,
The numerical controller 1 uses the two coordinate systems as a relative positional relationship X ',
Y'and δ'can be calculated. This is the storage device 13
It is stored in the internal register R'14.

Calculated, Y ', [delta] "" relative positional relationship X between the orthogonal coordinate system of the robot by teaching the "origin o" and x "an arbitrary point p _x axis similarly work coordinate system x" -y " can do. This is stored in the register R ″ 14.

The data input device 11 inputs the positioning data.
If the input coordinates are in the coordinate system x'-y ', G = 1
Is designated and the coordinate data of p _i ′ (i = 1,2, ..., m) is directly input.

At this time, the arithmetic unit 12 in the numerical controller 1 performs an arithmetic operation p _i ← p _i ′ + Δ ′, and stores p _i in the coordinate memory 15.
Where Δ ′ is the correction amount and the x, y coordinate of p _i is between x _i and p _i ′.
_If the x ′, y ′ coordinates of _i , y _i , p _i ′ are x _i ′, y _i ′ There is a relationship.

Similarly, if the coordinates to be input are in the coordinate system x ″ -y ″, specify G = 2 and directly input the coordinate data of p _j ″ (j = 1,2, ..., n) at that time. .

At this time, the arithmetic unit performs the arithmetic operation p _j ← p _j ″ + Δ ″ and stores p _j in the coordinate memory 15. Here delta "is p _j and p _j in the correction amount" x of p _j between, y coordinates x _j,
If the x ″, y ″ coordinates of y _j , p _j ″ are x _j ″, y _j ″, There is a relationship.

Therefore, all the data stored in the coordinate memory 15 has been converted into robot coordinates.

From the above, it can be seen that the positioning point whose coordinates in a certain work coordinate system are known beforehand can be replaced with robot coordinates by directly inputting the coordinates in the work coordinate system to the numerical controller 1 without using teaching.

During operation of the robot, the numerical control device 1 sequentially calls the data stored in the coordinate memory 15 and gives an operation command to the drive device 2 based on the data, and performs the same function as a general numerical control device. Just put it on.

In the above embodiment, the case in which there are two work coordinate systems has been described, but there is no problem even if there are many work coordinate systems.

Further, although the two-dimensional coordinate correction in the XY coordinates is performed in the embodiment, it is easily understood that the three-dimensional coordinate correction can be realized by a similar method.

EFFECTS OF THE INVENTION According to the present invention, if there are coordinates of a positioning point that is known in advance in a work coordinate system other than the robot coordinate system, by teaching two points in the work coordinate system, the coordinate data that is known in advance. Can be directly input to the numerical control device, and it is not necessary to teach each positioning point individually, and the program setting time can be significantly shortened.

[Brief description of drawings]

FIG. 1 is a coordinate plan view showing the relationship between a robot coordinate system and a work coordinate system, FIG. 2 is a system configuration diagram in one embodiment of the present invention, and FIG. 3 shows a data flow in the embodiment of the present invention. It is a data operation diagram. 1 ... Numerical control device, 2 ... Drive device, 3 ... Robot arm part, 4 ... Manual operation device, 11 ... Data input device, 12 ... Computing device, 13 ... Storage device.

Claims (1)

[Claims] 1. A data input device for numerically inputting coordinate data of each work point in a work coordinate system set in a work area of a robot, and a storage device for storing robot movement position coordinates in the robot coordinate system of the robot. An arithmetic unit that performs a predetermined arithmetic operation on the data input from the data input device or the data stored in the storage unit,
A numerical control device, an arm part, a drive part for driving the arm part, and a manual operation device for inputting a command for moving the arm part to an arbitrary point within an operating range to the numerical control device. By teaching the numerical control device with respect to two points having a rectangular coordinate system for work, the coordinates of each work point in the work coordinate system can be directly numerically input from the data input device. A robot coordinate correction device configured to operate the robot by converting the coordinate data of 1. to position data in the robot coordinate system of the robot.