JPH0976179A - Jig adjustment supporting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out jig adjustment required to control parallelism and a relative pitch after movement in a short period of time. SOLUTION: Respective postures and positional relations of jigs 2, 4 before movement are previously taught to a robot. It is recognized how the respective postures and positional relations of the jigs 2, 4 before the movement are changed after the movement by having the robot hold these jigs 2, 4. The robot computes changes of the postures and positions of these jigs before and after the movement as distances. A posture adjustment screw is provided on a lower part of each of the jigs, but a position of this screw, lifting quantity of the jig for one rotation, etc., are previously memorized, it is computed which screw is rotated, in which direction it is rotated and to which degrees it is rotated so as to make the jigs in the same postures and positional relations as before the movement in accordance with the computed distances, and the result is displayed on a display device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jig (for example, a jig post) for which it is necessary to control the parallelism and the relative pitch between the jigs when, for example, the robot is moved or peripheral equipment of the robot is moved. The present invention relates to a jig adjustment support method that supports adjustment.

[0002]

2. Description of the Related Art Conventionally, in a production factory, the scale of a production line may be changed according to changes in the status of product orders, but in this case, it is natural that the production line is installed on the production line. Relocation of existing robots, production machines, and jigs for transporting products will be carried out.

[0003]

Although this relocation is usually performed with consideration for accuracy so that the positional relationship between the robot and the jig is the same as that before the relocation, for example, the relocation is not performed. The accuracy is so low that it cannot be compared with the accuracy required for the robot.

Therefore, it is usually necessary to re-teach the robot after relocation.

Although the time required for this teaching work varies greatly depending on the number of relocated robots and the type of robot, it is generally at least a day-long time until the teaching work is completed and the confirmation of its operation is completed. Will be needed.

Further, when the teaching work is not sufficient, for example, when accurate adjustment of the parallelism and the relative pitch of the two jigs is required, it is necessary to perform the adjustment on site (for example, by relocation). If the parallelism between jig posts collapses, it will need to be adjusted.) Therefore, more time is required to operate the production line.

The present invention was made to support the jig position adjustment work associated with such relocation, and in particular, jig adjustment that requires control of parallelism and relative pitch after relocation is performed. The purpose is to provide a jig adjustment support method that can be done in a short time.

[0008]

The present invention for achieving the above object is configured as follows.

According to a first aspect of the present invention, a robot grips each of a plurality of jigs whose installation postures are relatively determined, and the postures of the jigs and the relative positions between the jigs. The relationship is stored, and any of these jigs after relocation is used as a reference jig for relative position adjustment, and the robot grips the reference jig to recognize the installation posture of the reference jig. Then, the robot grips a jig other than the reference jig after the transfer to recognize the installation posture of the jig, and the relative positional relationship between the jig and the reference jig is changed to the relative positional relationship before the transfer. The jig adjustment support method is characterized in that the same change amount of the posture of the jig is calculated from the relative positional relationship stored before the relocation, and the change amount of the posture is displayed.

When the amount of change in posture is displayed in this way,
An operator can bring the posture of the jig and the relative positional relationship between the jigs into the state before the transfer in a short time.

According to a second aspect of the invention, the robot is configured to reduce the positioning gain when gripping each of the plurality of jigs whose installation postures are relatively determined by using the data taught in advance. While forcibly holding by the robot, the posture of each jig and the relative positional relationship between the jigs are calculated from the posture of the robot at the time of gripping, and these are stored, and among these jigs after relocation, Using an arbitrary jig as a reference jig for relative position adjustment, using the data taught in advance, the positioning gain when gripping is reduced, and the robot grips the reference jig to set the reference jig. The robot's conversion matrix is calculated so that the posture of the robot can be recognized, and the posture of the jig before the transfer corresponding to the reference jig can be matched with the recognized installation posture of the reference jig. Ingredient Let the robot grasp an external jig to recognize the installation posture of the jig, calculate the proper posture of the jig from the conversion matrix, and set the installation posture of the jig to the original posture of the jig. The jig adjustment support method is characterized in that a change amount for matching the posture is calculated and displayed.

As described above, when the robot grips the jig, if the positioning gain is lowered, the robot can comfortably grip the jig at a position different from the original position, and the robot grips the jig. Since the posture of the jig is calculated from the posture of the robot at this time, the amount of change in the posture can be automatically calculated using the teaching data. Further, since the amount of change in the jig posture is displayed, the operator can bring the jig posture and the relative positional relationship between the jigs into the state before the transfer in a short time. Claim 3
In the invention described in (1), the robot grips each of the plurality of jigs whose installation postures are relatively determined, and the force applied to the force sensor at this time is equal to or less than a threshold value. The posture of the robot is adjusted so that it will be stored, and the posture at this time is stored, and any of these jigs after relocation is used as a reference jig for relative position adjustment. While being held by the robot at the position, the posture of the robot is adjusted so that the force applied to the force sensor is below the threshold at this time, and the installation posture of the reference jig is recognized, and the transfer corresponding to the reference jig is performed. The transformation matrix of the robot is calculated so as to match the posture of the previous jig with the recognized posture of the reference jig, and the robot grips a jig other than the standard jig after the transfer. The posture of the robot is adjusted so that the force applied to the force sensor becomes equal to or less than the threshold, and the installation posture of the jig is recognized, and the original posture of the jig is calculated by the conversion matrix, Is a jig adjustment support method characterized by calculating and displaying a change amount for matching the installation posture of the jig with the original posture of the jig.

As described above, when the force sensor is used, the jig at a position different from the original position can be gripped without difficulty, so that the posture of the jig can be accurately determined.
Therefore, it becomes possible to automatically calculate an accurate posture change amount using the teaching data. and again,
Since the amount of change in the jig posture is displayed, the operator can bring the jig posture and the relative positional relationship between the jigs into the state before the transfer in a short time.

According to a fourth aspect of the present invention, there is provided the first to third aspects.
In the invention described in (1), as the amount of change in the displayed posture, the rotation direction and the number of rotations of the posture adjusting screw provided for adjusting the posture of each jig are displayed. Seeing this display, the posture of the jig can be adjusted accurately by simply rotating the designated posture adjusting screw in the designated direction, so that the worker can quickly adjust the posture of the jig. The relative positional relationship between the jigs can be in the state before the transfer.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a view showing the schematic arrangement of an apparatus for realizing the jig adjustment support method according to the present invention.

The operation of the robot 10 is controlled by the robot controller 12. The robot 10 has a hand 10A capable of gripping the jigs 2 and 4, and when the robot 10 recognizes the postures of the jigs 2 and 4, these are determined based on teaching data previously taught to the robot controller 12. The jigs 2 and 4 are held by the hand 10A. In this case, when the postures of the jigs 2 and 4 after the relocation are different from those before the relocation or the relative positions between the jigs are deviated, the hand 10A is grasped based on the teaching data. If the position is accurately controlled, it becomes difficult to grip the jig. Therefore, the robot controller 12 lowers the gain of position control in the case of gripping, and when there is some positional deviation. However, it is designed so that it can be held without difficulty.

The posture of the robot 10 gripping the jigs 2 and 4 in this manner is grasped by the robot controller 12 based on the data such as the rotational position obtained from the motor of each axis, etc., and indirectly corrected by this. The posture of the tool is recognized.

When the posture of the jig after the transfer thus recognized is different from the posture of the jig before the transfer, the adjustment amount of the posture adjusting screw for matching the posture of the jig before the transfer Is displayed on the display device 14. The process from recognizing the attitude of the jig to calculating the adjustment amount is
This will be described in detail in the description of the flow chart below.

FIG. 2 is a perspective view showing the appearance of the jig 2. The base portion 3 of this jig 2 has four corners.
Posture adjusting screws 5A to 5D are provided at the positions. By rotating this attitude adjusting screw, the attitude of the jig 2 can be adjusted to an arbitrary attitude within a certain range. For example, when the robot 10 grasps the jig 2 installed as shown in FIG. 3 and it is recognized that the jig is different from the tilting direction (posture) of the jig before the transfer, this jig is used. Display device 1 which attitude adjustment screw should be rotated in which direction and to what extent so that the same as the inclination of the jig before relocation.
4 is displayed.

Further, even when the relative position deviation between the jigs 2 and 4 is recognized as shown in FIG. 4, the jig 4 is adjusted so that the relative position becomes the same as the relative positional relationship before the relocation. The display device 14 displays which posture adjusting screw is rotated in which direction and to what extent.

FIG. 5 is a block diagram showing the internal structure of the robot controller 12.

In the figure, the teaching data storage unit 20 stores locus data necessary for the playback operation of the robot 10, gripping position data of each jig when the jig adjustment support method of the present invention is carried out, and each jig. It is a storage device that stores data relating to a posture adjusting screw for each tool.

The trajectory data is data relating to the movement path when the robot 10 actually performs the work, and the gripping position data is such as what jig is located at which position when the jig is installed (before the transfer). The data teaches the robot 10 whether or not the jigs are installed in the posture, the distance between the jigs and the difference in posture. Usually, this data is obtained by causing the hand 10A of the robot 10 to actually grip those jigs.
Is stored as data representing the posture of the. The data regarding the attitude adjusting screw for each jig is specifically the position of the attitude adjusting screw provided on each jig, and how much the jig can be moved up and down once the screw makes one rotation. That is the data. The position of this attitude adjustment screw is
Calculations are made from the installation postures of each jig, and the results are taught.

The operation control unit 22 includes the teaching data storage unit 20.
This is a part that controls the operation of each axis motor 24 provided in each axis arm of the robot 10 according to the above-mentioned data stored in the robot 10 to operate the robot 10 in a desired posture.

The robot posture recognizing unit 26 uses the motors 2 for the respective axes.
It is a part that receives a pulse signal from an encoder or the like for detecting the rotation angle attached to the robot 4 and recognizes the posture of the robot 10. The motion control unit 22 feeds back the posture recognized by the robot posture recognition unit 26 to realize a desired posture of the robot 10. The instruction data calculation unit 28 creates a conversion matrix for matching the posture of the jig after the transfer with the posture of the jig before the transfer, based on the posture of the jig after the transfer recognized by the robot posture recognition unit 26. From the position data of the position adjusting screw for each jig that is created and stored in the teaching data storage unit 20, the instruction data “Which position adjusting screw should be rotated in which direction and how much” is calculated. It is the part to do.

The display device 14 includes the instruction data calculation unit 2
8 is used to display the instruction data calculated, and a character display device using an LED or a normal CRT is used.

The apparatus for carrying out the method of the present invention is roughly configured as described above, and the specific procedure of the present invention is performed as shown in the flowchart of FIG.

Although this flow chart starts with gripping the jig after the transfer, it is premised that the jig posture before the transfer is taught. The general procedure before the start of this flowchart will be described.

First, before the transfer, the robot 10 is provided with a relative positional relationship between the jigs and the respective installation postures of the installed jigs.
Be taught. Further, the position of the attitude adjusting screw provided on each jig is also taught to the robot 10. All of this teaching data is stored in the teaching data storage unit 20.

Next, the robot 10 and jigs are actually transferred. After this relocation, the robot is adjusted with considerable accuracy so that the robot is installed in the same state as before the relocation. Similarly, make sure that each jig is in the same posture as before the transfer, and that the positional relationship between each jig and each jig and robot is the same as before the transfer. Adjustment is performed with the accuracy of. This adjustment is made by a human by adjusting the site.

When a degree of satisfactory accuracy can be obtained in this way, then the processing according to the flowchart of FIG. 6 is performed.

The operation control unit 22 includes the teaching data storage unit 20.
Each axis motor 24 is moved based on the teaching data of the arbitrary jig which was taught before the transfer, and the hand 10A of the robot 10 holds the jig after the transfer (see FIG. 3).
At this time, the positioning gain of the operation control unit 22 is reduced so that the jig can be easily grasped by the hand 10A even if the jig after the relocation is slightly displaced from the posture before the relocation. There is. How much the positioning gain is reduced is arbitrarily set at the site (S1).

Since the gripping posture of the robot 10 at this time can be easily recognized by the signal from the encoder of each axis motor 24, the robot posture recognizing unit 26 stores the value of the encoder at this time as the current position of the robot 10. Yes (S2).

In the instruction data calculation unit 28, the conversion matrix is calculated based on the current position stored by the robot posture recognition unit 26 and the data regarding the installation posture of the jig before the movement stored in the teaching data storage unit 20. To calculate. This conversion matrix uses X, X, to match the position and orientation of the jig after relocation with the position and orientation before relocation.
This is a matrix showing how much the Y and Z directions should be moved in parallel and how much should be rotated in the X, Y and Z directions (S3).

When this conversion matrix is calculated, the teaching data storage unit 20 is then used by using this matrix.
The current position of the attitude adjusting screw is calculated from the position of the attitude adjusting screw of the jig stored in the table. That is,
The position of the posture adjusting screw of the jig after the relocation is calculated from the position data of the posture adjusting screw before the relocation using the conversion matrix (S4).

Next, using this transformation matrix,
The distance to be adjusted is calculated from the position of the attitude adjusting screw before the transfer of the jig and the position after the transfer.

For example, in FIG. 2, the positions and directions of the jig 2 before the transfer are P2 and D2, and the positions and directions of the jig 2 after the transfer are P2 'and D2'. P2, D2 to P2 ', D
The position of the posture adjusting screws 5A, 5B, 5C and 5D can be determined from the position of the jig 2, and P5A, P5B, P5C and P5D can be determined, where X is a conversion matrix for 2 '.
And

As shown in FIG. 4, the posture adjusting screws 5A, 5B, 5C, which are calculated from the post-moving posture of the jig 4 whose positional relationship with the jig 2 is as shown by the dotted line before the movement, as shown in FIG. 5D
5A ', 5B', 5C ', 5D' as the positions, and the post-relocation jig 2 is used as a reference (the reference jig is the reference jig). , 5C, 5D should have their original positions P5A ″, P5B ″, P5C ″,
If P5D ″, then P5A ″ = X · P5A P5B ″ = X · P5B P5C ″ = X · P5C P5D ″ = X · P5D.

When the adjustment amount (rotation amount) of the jig adjusting screw is A5A, A5B, A5C, A5D,

[0041]

[Equation 1]

(S5)

In the instruction data calculation unit 28, data relating to the posture adjusting screw for each jig stored in the teaching data storage unit 20, specifically, the position of the posture adjusting screw provided in each jig and Then, the amount of rotation of each posture adjusting screw is calculated from the data indicating how much the jig can be moved up and down when the screw makes one rotation, and the calculation result is displayed on the display device 14 (S6).

The above steps S2 to S6 are repeated until the rotation amount (adjustment amount) becomes smaller than the threshold value. In addition,
If the installation error of the jig before and after the relocation and the relative position error of the jig become smaller than the threshold value, it is possible to display that fact on the display device 14. (S7).

As described above, since the information concerning the adjustment of the attitude adjusting screw is displayed on the display device 14, the jig adjusting operation can be accurately performed in a short time.

In the above-described embodiment, the human beings make adjustments by looking at the adjustment data displayed on the display device 14. However, even if the robot can automatically make adjustments based on the obtained adjustment data. good. At this time, the robot may make a hand change and make the adjustment, or another robot or an automatic machine may make the adjustment.

Next, a second embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 7 is a diagram showing a schematic configuration of another embodiment of an apparatus for realizing the jig adjustment support method according to the present invention.

This structure is almost the same as the structure shown in FIG. 1, but the arm 11 of the robot 10 and the hand 10 are
A difference is that a force sensor 13 for detecting the load applied to the hand 10A is provided between the handset A and the handpiece A.

When the jig 2 is gripped as shown in FIG.
If the position is slightly deviated from the taught position, the load of the hand 10A due to this deviation is detected by the force sensor 1
3 will be detected. The robot controller 12 adjusts the posture of the robot 10 so that the load applied to the force sensor 13 approaches 0 in all directions.

FIG. 9 shows a schematic configuration of the robot controller 12 in this embodiment.

This configuration is also substantially the same as the configuration shown in FIG. 5, except that the force sensor 13 is connected to the operation control section 22.

Teaching data storage unit 20, each axis motor 24,
The functions and operations of the robot posture recognition unit 26, the instruction data calculation unit 28, and the display device 14 are the same as those described in the description of FIG. 5, so description thereof will be omitted here, but the operation control unit 22 here. Uses the signal from the force sensor 13 as a feedback signal to function to adjust the posture of the robot 10. That is, the jig after the relocation is moved to the hand 10A based on the teaching data stored in the teaching data storage unit 20.
The posture of the robot 10 is automatically adjusted so that the load applied to the force sensor 13 becomes close to 0 when gripped by. By operating the robot 10 in this manner, it becomes possible to recognize the installation posture extremely accurately.

This apparatus for carrying out the method of the present invention is constructed as outlined above, and the specific procedure of the present invention is carried out as shown in the flowchart of FIG. It should be noted that although this flowchart starts from the step of gripping the jig after the transfer, the teaching of the jig posture before the transfer is performed as a premise. The general procedure before the start of this flowchart is the same as that of the above-described first embodiment.

That is, before the transfer, the robot 10 is taught the individual installation postures of the installed jigs and the relative positional relationship between the jigs. Further, the position of the attitude adjusting screw provided on each jig is also taught to the robot 10. All of this teaching data is stored in the teaching data storage unit 20.

Next, the robot 10 and jigs are actually transferred. After this relocation, the robot is adjusted with considerable accuracy so that the robot is installed in the same state as before the relocation. Similarly, make sure that each jig is in the same posture as before the transfer, and that the positional relationship between each jig and each jig and robot is the same as before the transfer. Adjustment is performed with the accuracy of. This adjustment is made by a human by adjusting the site.

When a degree of satisfactory accuracy can be obtained in this way, the processing according to the flowchart of FIG. 10 is then performed.

The operation control unit 22 includes the teaching data storage unit 20.
Each axis motor 24 is moved based on the teaching data of the arbitrary jig which was taught before the transfer, and the hand 10A of the robot 10 holds the jig after the transfer (see FIG. 8).
At this time, the operation control unit 22 reads the detection value of the force sensor 13 and controls the operation of each axis motor 24 so that the detection value of the force sensor 13 becomes less than or equal to a preset threshold value. Subtly change the posture of 10. The robot 10 is stopped (the posture is fixed) at the moment when the detection value of the force sensor 13 becomes equal to or less than the threshold value. By controlling in this way, the hand 10A of the robot 10 can grip the jig without difficulty (S11).
To S13).

Since the gripping posture of the robot 10 at this time can be easily recognized by the signal from the encoder of each axis motor 24, the robot posture recognizing unit 26 stores the value of the encoder at this time as the current position of the robot 10. Yes (S14).

In the instruction data calculation unit 28, the conversion matrix is calculated based on the current position stored by the robot posture recognition unit 26 and the data regarding the installation posture of the jig before the transfer stored in the teaching data storage unit 20. To calculate. This conversion matrix uses X, X, to match the position and orientation of the jig after relocation with the position and orientation before relocation.
This is a matrix indicating how much the translation should be performed in the Y and Z directions and how much should be rotated in the X, Y and Z directions (S15).

When this conversion matrix is calculated, the teaching data storage unit 20 is then used by using this matrix.
The current position of the attitude adjusting screw is calculated from the position of the attitude adjusting screw of the jig stored in the table. That is,
The position of the posture adjusting screw of the jig after the relocation is calculated from the position data of the posture adjusting screw before the relocation using the conversion matrix (S16).

Next, using this transformation matrix,
The distance to be adjusted is calculated from the position of the attitude adjusting screw before the transfer of the jig and the position after the transfer. This calculation method is the same as the step S5 of the flowchart for explaining the above-described embodiment, and therefore the description thereof is omitted (S17).

In the instruction data calculation unit 28, data relating to the posture adjusting screw for each jig stored in the teaching data storage unit 20, specifically, the position of the posture adjusting screw provided in each jig and Then, the rotation amount of each attitude adjusting screw is calculated from the data indicating how much the jig can be moved up and down when the screw makes one rotation, and the calculation result is displayed on the display device 14 (S18).

The above steps S14 to S18 are repeated until the rotation amount (adjustment amount) becomes smaller than the threshold value. If the jig installation error and the jig relative position error before and after the transfer become smaller than the threshold value, it is possible to display the fact on the display device 14. (S19).

As described above, since the information concerning the adjustment of the attitude adjusting screw is displayed on the display device 14, the jig adjusting operation can be accurately performed in a short time.
Further, in comparison with the first embodiment in which the positioning gain is lowered and the jig is forcibly gripped, in the present embodiment, the force sensor 13 grips the jig without difficulty. Posture can be grasped very accurately,
It is also possible to accurately adjust the jig after relocation.

In the above-described embodiment, the human is adjusted by looking at the adjustment data displayed on the display device 14. However, the robot can be automatically adjusted based on the obtained adjustment data. good. At this time, the robot may make a hand change and make the adjustment, or another robot or an automatic machine may make the adjustment.

In the case of such a configuration, the position and type of the jig are changed according to the type of the work to be produced, which also helps to realize various types and small quantity production at low cost.

[0068]

As described above, according to the present invention, the following effects are obtained for each claim.

According to the first aspect of the invention, the amount of change in the posture of the jig, which makes the relative positional relationship between the jig and the reference jig the same as the relative positional relationship before the transfer, is stored before the transfer. Since it is calculated from the relative positional relationship and the amount of change in the posture is displayed, it is possible for the operator to adjust the posture of the jig and the relative positional relationship between the jigs in a short time to obtain the state before the relocation. it can.

According to the second aspect of the invention, when the robot grips the jig, the positioning gain of the robot is reduced to grip the jig at a position different from the original position of the robot without difficulty, and Since the posture of the jig is calculated from the posture of the robot when gripped, the amount of change in the posture of the jig can be automatically calculated using the teaching data. Further, since the amount of change in the jig posture is displayed, the operator can adjust the posture of the jig and the relative positional relationship between the jigs in a short time to bring the jig to the state before the transfer.

In the third aspect of the invention, since the force sensor is used when the robot grips the jig, it is possible to grip the jig at a position different from the original position without difficulty. Therefore, the posture of the jig can be accurately obtained, and the accurate change amount of the posture of the jig can be automatically calculated using the teaching data. Further, since the amount of change in posture is displayed, the operator can adjust the posture of the jig and the relative positional relationship between the jigs in a short time to bring the jig to the state before the transfer.

According to the fourth aspect of the invention, the rotation direction and the number of rotations of the posture adjusting screws provided for adjusting the posture of each jig are displayed as the amount of change in the posture of the jig. Since the worker can see the display and adjust the posture of the jig accurately by simply rotating the designated posture adjusting screw in the designated direction, the worker can quickly adjust the posture of the jig. The posture and relative positional relationship between jigs can be set to the state before the transfer.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an apparatus for performing a method according to the present invention.

FIG. 2 is a diagram for explaining the configuration of the jig shown in FIG.

FIG. 3 is a diagram for explaining the method of the present invention.

FIG. 4 is a diagram provided for explanation of the method of the present invention.

5 is a schematic configuration diagram of the robot controller shown in FIG.

FIG. 6 is a flowchart showing the method of the present invention.

FIG. 7 is a schematic configuration diagram of an apparatus of another embodiment for carrying out the method according to the present invention.

FIG. 8 is a diagram for explaining the method of the present invention.

9 is a schematic configuration diagram of the robot controller shown in FIG.

FIG. 10 is a flowchart showing the method of the present invention.

[Explanation of symbols]

 2, 4 ... Jig, 3 ... Base part 5A-5D ... Posture adjusting screw, 10 ... Robot, 10A ... Hand, 12 ... Robot controller, 14 ... Display device.

[Procedure amendment]

[Submission date] December 12, 1995

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG.

[Fig. 2]

[Figure 3]

FIG. 4

[Figure 5]

FIG. 7

[Figure 8]

[Figure 9]

FIG. 6

[Figure 10]

Claims (4)

[Claims] 1. A robot grips each of a plurality of jigs whose installation attitudes are relatively determined, and stores the attitudes of the jigs and the relative positional relationship between the jigs, and after the transfer. Of these jigs, any jig is used as a reference jig for relative position adjustment, the robot grips the reference jig to recognize the installation posture of the reference jig, and the reference jig after relocation A jig other than the jig is grasped by the robot to recognize the installation posture of the jig, and the relative positional relationship between the jig and the reference jig is the same as the relative positional relationship before the transfer. A jig adjustment support method characterized in that the amount of change in posture is calculated from the relative positional relationship stored before the relocation, and the amount of change in posture is displayed. 2. A method of teaching data of each of a plurality of jigs whose installation postures are relatively determined,
The positioning gain for gripping is reduced to force the robot to grip, and the posture of each jig and the relative positional relationship between each jig are calculated from the robot posture at the time of gripping, and these are stored. Of these jigs after relocation, any jig is used as a reference jig for relative position adjustment, and using the data taught in advance, the positioning gain when gripping is reduced to reduce the reference jig. The robot is grasped to recognize the installation posture of the reference jig, and the robot is converted to match the posture of the jig corresponding to the reference jig before the transfer with the recognized installation posture of the reference jig. The matrix is calculated, and the robot grasps the jig other than the standard jig after the relocation to recognize the installation posture of the jig, and the original posture of the jig is calculated by the conversion matrix. A jig adjustment support method characterized in that a change amount for matching the installation posture of the jig to the original posture of the jig is calculated and displayed. 3. A plurality of jigs, each of which has a relatively fixed installation posture, is held by a robot at a pre-taught position, and the force applied to the force sensor at this time is below a threshold value. Adjust the posture of the robot so that it will be stored, and store the posture at this time.Any of these jigs after relocation will be used as the reference jig for relative position adjustment, and While the robot grips the robot, the robot posture is adjusted so that the force applied to the force sensor is less than or equal to the threshold, and the installation posture of the reference jig is recognized. The conversion matrix of the robot is calculated so that the posture of the jig of (1) matches the recognized installation posture of the reference jig, and the robot grips a jig other than the reference jig after transfer, while The posture of the robot is adjusted so that the force applied to the force sensor becomes less than or equal to the threshold value, and the installation posture of the jig is recognized, and the original posture of the jig is calculated by the conversion matrix, and the posture of the jig is calculated. A jig adjustment support method characterized in that a change amount for matching the installation posture with the original posture of the jig is calculated and displayed. 4. The amount of change in the displayed posture is a rotation direction and a rotation speed of a posture adjusting screw provided for adjusting the posture of each jig. The jig adjustment support method according to any one of claims 1 to 3.