JPH08276390A - Joint angle calibration device for robot - Google Patents

Abstract

PURPOSE: To easily perform calibration for the joint angle of a robot with high accuracy for a short time. CONSTITUTION: The device is made up of a plate 11 provided with a hole 15 in its flat surface, a robot 12 fixed to the plate 11, and of a tool jig 14 mounted to the mechanical interface of the robot 12. And the device is so constituted as to be provided with a controller section which registers the respective joint angles of the robot when the tool jig 14 is fitted in the hole 15 provided by the plate 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot joint angle calibration device.

[0002]

2. Description of the Related Art Generally, a robot of this type has a robot 22 mounted on a horizontal mount 21 as shown in FIG.
The robot 22 has a robot arm 26 connected by joints, and a jig 23 is attached to the tip of the robot arm 26. In the figure, 24 is a thread, 25 is a weight, 27
Reference characters a and 27b are marking lines marked on the joints of the robot arm.

First, the robot 22 is placed on the horizontal pedestal 21, the tip of the robot arm 26 is oriented vertically upward, and the jig 23 is attached to the tip of the robot arm 26. A thread 24 is attached to the jig 23, and a weight 25 is attached to the end of the thread 24 opposite to the jig.

Next, the joint angle calibration work of the robot having the above construction will be described. Robot arm 2
Thread 24 and marking line 27a hung from the tip of 6
The robot arm 26 is visually checked so that 27b is aligned.
Adjust the angle of. After the adjustment is completed, each joint angle of the robot is registered in the controller unit to determine the robot coordinates.

[0005]

However, the above method has the following problems. 1. It is necessary to manage the horizontal condition of the horizontal frame every day. 2. It is necessary to transport the robot on a horizontal platform. 3. Since the angle adjustment of the robot arm is visual, the accuracy varies depending on the operator. 4. Since the weight swings each time the robot arm is moved, it takes time to stop the yarn.

An object of the present invention is to solve the above-mentioned problems and to provide a joint angle calibration device for a robot which can be performed with high accuracy, easily and in a short time.

[0007]

In order to achieve this object, a robot joint angle calibration device of the present invention comprises a plate having holes on a plane, a robot fixed on the plate, and a robot of the robot. The controller is composed of a tool jig attached to a mechanical interface, and has a controller unit for fitting the tool jig and the hole of the plate and registering each joint angle of the robot at that time.

[0008]

With this configuration, the coordinates of the robot can be determined, but it is not necessary to manage the horizontal state of the gantry because the joint angle calibration work of the robot can be performed even on a gantry whose horizontal state is not controlled. Further, since the robot can be assembled and the calibration work can be performed on the plate having the holes on the plane, it is not necessary to transport the robot from the assembly stage onto the horizontal mount. Further, since the tool jig and the hole of the plate are fitted together, it is possible to reduce variations in joint angle calibration accuracy depending on the operator. Further, since it is not necessary to use the weighted yarn and the transportation work does not occur, it is possible to reduce the number of work steps.

[0009]

An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 11 is a plate having a hole 15 near the end. The plate 11
A robot 12 is placed on the robot arm 1
Tool jig 14 for mechanical interface at 3 tips
Is attached. The tip of the tool jig 14 is fitted in the hole 15 so as to be freely fitted therein.

In the above structure, first, the robot 12 is mounted on the plate 11. Next, the robot arm 1
The tool jig 14 is attached to the tip of 3 (mechanical interface). Then, the tool jig 14 is fitted into the hole 15 on the plate 11. The coordinates of the robot are determined by registering each joint angle of the robot at that time in a controller unit (not shown).

[0011]

As is apparent from the above description of the embodiments, the present invention provides a plate having a hole on a plane, a robot fixed on the plate, and a tool fixing tool attached to a mechanical interface of the robot. By fitting the tool jig and the hole of the plate, the joint angle calibration can be realized with high accuracy, easily, and in a short time. Further, it can be realized by a simple structure in which a hole into which the tip of the tool jig is fitted is formed in the plate.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a joint angle calibration device for a robot according to an embodiment of the present invention.

FIG. 2 is a block diagram of a conventional robot joint angle calibration device.

[Explanation of symbols]

 11 plate 12 robot 13 robot arm 14 tool jig 15 hole on plate

Claims (1)

[Claims] 1. A plate having a hole on a plane, a robot fixed on the plate, and a tool jig attached to a mechanical interface of the robot, the hole having the tool jig and the plate. A joint angle calibration device for a robot having a controller unit for fitting the joint angles and registering each joint angle of the robot at that time.