JPS586406A - Inspecting system using robot - Google Patents
Inspecting system using robotInfo
- Publication number
- JPS586406A JPS586406A JP10443881A JP10443881A JPS586406A JP S586406 A JPS586406 A JP S586406A JP 10443881 A JP10443881 A JP 10443881A JP 10443881 A JP10443881 A JP 10443881A JP S586406 A JPS586406 A JP S586406A
- Authority
- JP
- Japan
- Prior art keywords
- origin
- point
- robot
- teaching
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
Abstract
Description
【発明の詳細な説明】
本発Ｕ月は複Ｈな形状の物体の寸法をロボツ）Ｋ依って
検査する方式に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for inspecting the dimensions of a complex H-shaped object using a robot.
ロボ・ソトにしろ、三次元測定器にしろ、原点はロボッ
ト＠または、ｍ重器側で定めた点になっており、ワーク
の誤差を測定するのには不都合がある、座標のとり方に
ついても同様のことｉｃｒえる。Regardless of whether it is a RoboSoto or a three-dimensional measuring device, the origin is a point determined by the robot or the heavy equipment, which is inconvenient for measuring errors in the workpiece. I can see the same thing.
ワークの寸法誤差を測定しやす−位置に原点をとり、測
定しやすい方向に座標をとることのできる装置が、複雑
で大形のワークには特に必要である。Easy to measure dimensional errors in workpieces - A device that can set the origin at a position and take coordinates in a direction that is easy to measure is especially necessary for complex and large workpieces.
本発明の目的は測定対象のワークに原点をティーチし、
ワークに好適の座標軸をティー千すると、ワーク上の点
がすべて、上記原点と座標軸を基準として表示させるこ
とのできるロボットに依石検査方式を提供することにあ
る。The purpose of the present invention is to teach the origin to the workpiece to be measured,
The object of the present invention is to provide a robot with a fixed inspection method that can display all points on the workpiece with reference to the origin and the coordinate axes when a suitable coordinate axis is set for the workpiece.
例えば１円筒を外部から測定する一合１両端面の中心を
結ぶ中心線をＸ軸とし、重力の方向をＺ鵬とし、Ｘ、Ｚ
Ｋ直角な方向をＹ軸として表示すると、各断面の中心の
ずれや半径の誤差が攻めやすＬ／−ｈ。For example, when measuring a cylinder from the outside, let the center line connecting the centers of both end faces be the X axis, and the direction of gravity be Z, then
If the direction perpendicular to K is displayed as the Y axis, the deviation of the center of each cross section and the error in the radius will be easily detected L/-h.
上記での測定を％ロボット先端に触手を特恵せてワーク
に接触すると同時に、上記のＸ、Ｙ、Ｚ座標で表示さ略
れば、最高点、最近点、最遠点等の座標を試行錯誤法で
簡単に求められる。The above measurement is performed by placing the tentacle at the tip of the robot and touching the workpiece, and at the same time displaying the above X, Y, Z coordinates.In other words, the coordinates of the highest point, nearest point, farthest point, etc. easily required by law.
本発明を適用する非量産用ワークの一例を第１図に示す
。An example of a workpiece for non-mass production to which the present invention is applied is shown in FIG.
第１図において％ａ、ｂ、ＣＩ／′ｉ母管と枝管の交点
で 湿曲線と呼ばれ、形状が複雑であるなめ、誤差があ
るｄ晦形曲線の形状が変わり、製品毎の品質にばらつき
を生じる。In Figure 1, the intersection of %a, b, CI/'i main pipe and branch pipe is called the wet curve, and since the shape is complex, the shape of the d-shaped curve with errors changes, and the quality of each product changes. There will be variations in the results.
母管は、長さ５ｍもめる場合があり、真円に１すること
が困難でかつ、中心線妙：第２図のように弯曲する場合
が多力。すなわら第２図の（Ｙ、Ｚ）平面で母管を切断
すると第３図のように変形して因ることが多込。The main tube may have a length of 5 m, making it difficult to form a perfect circle, and the center line may be curved as shown in Figure 2. In other words, if the main pipe is cut along the (Y, Z) plane in Figure 2, it will often be deformed as shown in Figure 3.
このようにとき、まずＺ方向の最大変位１ｋＺＯＷ。In this case, first, the maximum displacement in the Z direction is 1 kZOW.
Ｙ方向の最大変位ｍｙｏｗを見出して、ハンＶ −等を
用−て修正し、中心Ｏからの半径の誤差がα５％以下に
なるようにする。The maximum displacement myow in the Y direction is found and corrected using Han V etc. so that the error in the radius from the center O is α5% or less.
このような修正におＡでは、中心０からの寸法がすぐ読
み取れる装＃が必要であるが、従来の測定装置では、複
雑な計算と、最大変位の位置を見出すための高度の経験
を必要とし念。For such corrections, A requires a device that can immediately read the dimensions from the center 0, but conventional measuring devices require complex calculations and a high degree of experience to find the position of maximum displacement. Just in case.
本発明は以上のような問題を解消し、簡単に最大変位点
を見出すなめのものである。このため第１図の母管の両
瑞Ｘ、、Ｘ、を求心つかみ装置で固定し、一端の中心Ｘ
、を原点、Ｘ、Ｘ□′ｆ：Ｘ軸として記憶し、それ以後
に測定されたすべての点を一ヒ記原点とＸ軸を基準に表
示できるようにする。The present invention solves the above-mentioned problems and makes it easy to find the maximum displacement point. For this purpose, fix both ends X, ,
, is stored as the origin, X, X□'f: X axis, and all points measured thereafter can be displayed based on the origin and the X axis.
上８犯に示した機能を満足する装置の一実施例を第４図
に示す。FIG. 4 shows an embodiment of a device that satisfies the functions shown in the above eight crimes.
第４図におりて、走行台２の位置はエンコーダ４により
測定される。この方向をＸ軸と呼びａ検出値出値をＸ′
とする。、昇降台５υ位置は、エンコーダ７により測定
され、そり方向をＺ′軸と呼び検出値Ｉ＆：ｚと呼ぶ、
ｆｆ１ｌ後軸９の位Ｊは、エンコーダ１１により測定
されその方向ｆ：ｙ’軸と呼び検出値をｙと呼ぶ。触手
１４ｖ％Ｊ灰シまψと０で表＝１′）される。In FIG. 4, the position of the carriage 2 is measured by an encoder 4. This direction is called the X axis, and the output value of a detected value is X'
shall be. , the position of the lifting platform 5υ is measured by the encoder 7, and the warping direction is called the Z' axis and the detected value I&:z.
The position J of the ff1l rear axis 9 is measured by the encoder 11, and its direction is called f:y' axis, and the detected value is called y. Tentacle 14v%J gray stripe ψ and 0 table = 1').
φ、＃はエンコーダ１５．１３で検出する。φ and # are detected by encoders 15 and 13.
上記Ｘ、ｙ＊ｚの１ｆαは、腕１４の回転中心Ｐの位置
として換算されている。測定される位置は触手１６の先
端見の座標を（Ｘ／、Ｙ’、Ｚ勺とするとＸ＃ ｙａ
ｚとの開に下記の開係がある。但しθはＸ軸に対して腕
１４の成す角である。1fα of the above X, y*z is converted as the position of the rotation center P of the arm 14. The measured position is X# ya, where the coordinates of the tip of the tentacle 16 are (X/, Y', Z
There are the following openings for opening with z. However, θ is the angle formed by the arm 14 with respect to the X axis.
上記（１）は、ロボットの触手Ｑの位置であるが、ワー
クの寸法誤差を知る冷めには、補正計算をして表示する
必要がある。The above (1) is the position of the robot's tentacle Q, but in order to know the dimensional error of the workpiece, it is necessary to perform a correction calculation and display it.
上記の目的のなめ、測定されるワークの位置を（Ｘ、Ｚ
、Ｚ）で示すこととし、下記のような未定定数ｘａ、ｙ
ａ、Ｚａを（１）式に加えて、ワーク上に、原点を指定
したとき（原点ティーチと呼ぶ）Ｘａ、Ｙａ、ｚａ４ｒ
自動的に計算され記憶されるようにする。すなわち（１
）を
と与えておく。ここで、ａおよびｂは、ワーク上の座標
とロボットの座標のずれを補正する補正項である。For the above purpose, the position of the workpiece to be measured is (X, Z
, Z), and the following undetermined constants xa, y
When adding a and Za to equation (1) and specifying the origin on the workpiece (called origin teaching), Xa, Ya, za4r
Automatically calculated and memorized. That is, (1
) is given. Here, a and b are correction terms for correcting the deviation between the coordinates on the workpiece and the coordinates of the robot.
原点ティーチのときには、ロボットの位置記憶のステッ
プ番号を０とし、そのとき触手を位置決めして、原点テ
ィーチモードでティーチングする。At the time of origin teaching, the step number of the robot's position memory is set to 0, the tentacle is positioned at that time, and teaching is performed in the origin teaching mode.
第１図の各エンコーダの［Ｘ・＋ ７ｅ ＊ ｚ・、デ
・。[X・+7e*z・, de・ of each encoder in FIG.
０、とはステップ１に記憶され、その値とＲ，ｒおよび
ｘ−ｙ−ｚ＝０により
が計算され、ｘａ、ｙａ、ｚａが定数としてステップ番
号とは異なるエリアに記憶される。0 is stored in step 1, and its value, R, r, and x-y-z=0 are calculated, and xa, ya, and za are stored as constants in an area different from the step number.
上記のフローチャートを第５図に示す。The above flowchart is shown in FIG.
上記のｘ−ｙ−ｚ＝ｏの位ｔＪｉは、母管の一端の中心
とする。さらに母管の他端の中心（基準点と呼ぶ）をテ
ィーチすることにより、母管の中心線をＸ軸として、ワ
ークの寸法を求めることができる。The above x-y-z=o position tJi is the center of one end of the main tube. Furthermore, by teaching the center of the other end of the main tube (referred to as the reference point), the dimensions of the workpiece can be determined using the center line of the main tube as the X axis.
すなわち、母管の他端の中心におけるエンコーダの値（
Ｘ＋ ｅ Ｌ ＋ Ｚｌ １ ９’ｌ ＋ θｌ ）
とＲｏｒおよびＸ−（ｘ、 −ｘ、 ）＋（ｒ−４−Ｒ
ｃｏｓ９． ）ｃｏｓθｒ （ｒ＋Ｒｃｏｓψ、）ｃ
ｏｓθ、、ならびに式（３）及びｙ−ｚ−ｏを（２）に
代入し、ａおよ、びｂを求める。基準点をティーチする
に先立って可能なかぎり、走行台と母管の中心線は平行
になるようＩｌｍするのがの上筒しす。That is, the encoder value at the center of the other end of the main tube (
X+ e L + Zl 1 9'l + θl)
and Ror and X−(x, −x, )+(r−4−R
cos9. )cosθr (r+Rcosψ,)c
osθ, and equations (3) and yzo are substituted into (2) to obtain a and b. Before teaching the reference point, the upper tube should be adjusted so that the center lines of the carriage and the main tube are parallel to each other as much as possible.
このように、原点と基準点をティーチしておけば、ワー
クの位置をすべて上記母管の中心線をＸ軸として測定す
るなめυ準備が完了したことになる。By teaching the origin and the reference point in this way, preparations for measuring all the positions of the workpiece with the center line of the main tube as the X axis are completed.
上記０７０−チヤートは第６図に示す。The above 070-chart is shown in FIG.
ステップ３以後は、ワーク上の位置を触手で指示して、
ティーチしてｂけば、（２）により（Ｘ、Ｙ。After step 3, use the tentacle to indicate the position on the workpiece.
If you teach b, (X, Y.
２）のｔｉボ次々に記憶される。2) are stored one after another.
必要なワーク上の位置のテイーナ後、ＲＥＡＤモードに
して、ワークの位置を読み出す、このと＃、ワークの位
置は（Ｘ、Ｙ、Ｚ）で表示される。After retaining the required position on the workpiece, enter the READ mode and read the position of the workpiece.The position of the workpiece is then displayed as (X, Y, Z).
なお、触手を接触センナとし、各ステップの位置（ｘｉ
、ｙｉ 、 ｚｉ 、デｊ−，−１）から接触センサ
の方向に動かしてワークを接触させ、その時の位置を・
（Ｘ、Ｙ、Ｚ）で記憶させるようにすることができる。Note that the tentacles are used as contact sensors, and the position of each step (xi
, yi , zi , dej-, -1), move the workpiece in the direction of the contact sensor and make contact, and the position at that time is
(X, Y, Z) can be stored.
このようにすれば、従来のロボットボ、各ステップの位
置（Ｘｉ、、７１．Ｚｉ、ψ：ｌＬ、＃ｉ、）の点で、
ステップの順に作業をして−くのと全く同じ原理で接触
センサを使用して、ワークの自動検査をしてｂくことが
できる。In this way, in terms of the position of each step (Xi,, 71.Zi, ψ:lL, #i,) of the conventional robot,
A contact sensor can be used to automatically inspect a workpiece using exactly the same principle as working in the order of steps.
さらに、上記の夾施例の説明におりては、ロボットは（
Ｘ ＊ Ｖ −Ｚ ｅ ？ ＊ ’ ）の直角座標系の
５軸構造であったが、関節形構造でも、軸数を４軸にし
ても本発明を適用することができる。またロボットの位
置を記憶するときには、必ずしも（Ｘ。Furthermore, in the explanation of the above example, the robot (
X*V-Ze? *') Although the structure is a five-axis rectangular coordinate system, the present invention can also be applied to an articulated structure with four axes. Also, when memorizing the robot's position, it is not necessary to use (X).
Ｙ、Ｚ）でなく、（Ｘ ｍ ７ ＊ ｚ＋ Ｆ ＊ ’
）で記憶し、表示する直前に式（５）を用りて計算し
くＹ、Ｙ。Y, Z) but (X m 7 * z + F * '
), and calculate Y and Y using equation (5) just before displaying.
Ｚ）で表わしても良い。また表示される座標も（Ｘ、Ｙ
、Ｚ）の直交座標のみでなく円筒座標、極座標を用すて
表示しても本発明の本質から逸脱するものでないことは
明らかである。It may also be expressed as Z). Also, the displayed coordinates (X, Y
, Z) may be expressed using not only orthogonal coordinates but also cylindrical coordinates and polar coordinates without departing from the essence of the present invention.
本発明によればワーク中にはじめに、原点と基準点をテ
ィーチすることにより、ワーク中に座標軸と座標軸上の
原点を与えることができ、このためワーク上のすべての
点を座標軸を基準として表示することができ、寸法検査
に最も重要な最大変位位置を簡単に知ることができる。According to the present invention, by first teaching the origin and reference point during the work, the coordinate axes and the origin on the coordinate axes can be given during the work, and therefore all points on the work are displayed with the coordinate axes as the reference. The maximum displacement position, which is most important for dimensional inspection, can be easily determined.
ので作業現場の検査装置として好適である。Therefore, it is suitable as an inspection device at work sites.
さらに、本発明の＋Ｍ能を、従来の産業用ロボットに付
加すれば、ワーク形状を一定にすることの困難な非量産
のワークを測定し、−足のｆｆｇ４１内に入ったことを
確認することができるので、非量産ワークの品質の向上
がはかられ、また自動化が促進される、
な≧触手としては接触式のものの他に、非接触式のもの
も使用可能である。Furthermore, by adding the +M function of the present invention to a conventional industrial robot, it is possible to measure non-mass-produced workpieces in which it is difficult to keep the workpiece shape constant, and to confirm that the workpiece is within the -leg ffg41. As a result, the quality of non-mass-produced workpieces can be improved, and automation can be promoted. In addition to contact type tentacles, non-contact type tentacles can also be used.
【図面の簡単な説明】
第１図は、本発明の説明に用ηたワーク例、第２図は、
１＠１図の中心線の変形を示すＭ、第３図は、第１図の
断面の一例である。第４図は、本発明の一実施例％第５
図は、原点のティーチの念めのフロ−９ヤード、＠６図
は、基準点のティーチのためのフローチャートである。
２．５．９はロボットの軸、１４は手首、１６は触手で
ある。
第１瓢
第４図
才５図[Brief explanation of the drawings] Figure 1 shows an example of a workpiece used to explain the present invention, and Figure 2 shows an example of a workpiece used to explain the present invention.
1@M showing the deformation of the center line in FIG. 1, FIG. 3 is an example of the cross section of FIG. 1. Figure 4 shows one embodiment of the present invention.
The figure is a flowchart for teaching the origin point - 9 yards, and the figure @6 is a flowchart for teaching the reference point. 2.5.9 is the axis of the robot, 14 is the wrist, and 16 is the tentacle. 1st gourd 4th figure 5th figure
Claims (1)
端に触手を備え、且２該触手先増の位置を表示する機能
を有するロボットの動作範囲の中の１点を原点とし、他
の１点を基準点とすることにより、該原点と該基準点を
通る直線を座標軸となし。 該原点と該基準点とｔあらかじめ記憶させ、その後に位
置決めされた点は、該原点を原点とし、該座σ軸を基準
の座標として、記録できるようにしたロボット（ｆＣ依
す検査方式。[Claims] One point in the operating range of a robot that has at least 1111 on the 5 axes of the main body and the wrist, has a tentacle at the tip of the wrist, and has a function of displaying the additional position of the tentacle tip. By setting the origin as the origin and one other point as the reference point, the straight line passing through the origin and the reference point becomes the coordinate axis. The origin and the reference point are memorized in advance, and the subsequently positioned points can be recorded using the origin as the origin and the σ-axis as the reference coordinate (inspection method based on fC).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10443881A JPS586406A (en) | 1981-07-06 | 1981-07-06 | Inspecting system using robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10443881A JPS586406A (en) | 1981-07-06 | 1981-07-06 | Inspecting system using robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS586406A true JPS586406A (en) | 1983-01-14 |
Family
ID=14380662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10443881A Pending JPS586406A (en) | 1981-07-06 | 1981-07-06 | Inspecting system using robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS586406A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59180418A (en) * | 1983-03-30 | 1984-10-13 | ワイラ−・アクチエンゲゼルシヤフト・ヴアセルヴア−ゲン・ウント・メスヴエルツオイグ | Measuring arm of multiple coordinate measuring device |
| JPS61105412A (en) * | 1984-10-29 | 1986-05-23 | Mitsutoyo Mfg Co Ltd | Multidimensional measuring machine |
| JPS61105411A (en) * | 1984-10-29 | 1986-05-23 | Mitsutoyo Mfg Co Ltd | Measuring method of multidimensional measuring machine |
| JPS61105413A (en) * | 1984-10-29 | 1986-05-23 | Mitsutoyo Mfg Co Ltd | Multidimensional measuring machine |
| JPS62265517A (en) * | 1986-05-13 | 1987-11-18 | Mitsubishi Electric Corp | Position detecting device for moving body |
| EP0334890A1 (en) * | 1986-12-10 | 1989-10-04 | McDONALD, Gregory James | Coordinate measuring system |
| JPH01282413A (en) * | 1988-05-09 | 1989-11-14 | Hitachi Cable Ltd | Position shift measuring apparatus |
| US8352212B2 (en) | 2009-11-18 | 2013-01-08 | Hexagon Metrology, Inc. | Manipulable aid for dimensional metrology |
-
1981
- 1981-07-06 JP JP10443881A patent/JPS586406A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59180418A (en) * | 1983-03-30 | 1984-10-13 | ワイラ−・アクチエンゲゼルシヤフト・ヴアセルヴア−ゲン・ウント・メスヴエルツオイグ | Measuring arm of multiple coordinate measuring device |
| JPS61105412A (en) * | 1984-10-29 | 1986-05-23 | Mitsutoyo Mfg Co Ltd | Multidimensional measuring machine |
| JPS61105411A (en) * | 1984-10-29 | 1986-05-23 | Mitsutoyo Mfg Co Ltd | Measuring method of multidimensional measuring machine |
| JPS61105413A (en) * | 1984-10-29 | 1986-05-23 | Mitsutoyo Mfg Co Ltd | Multidimensional measuring machine |
| JPS62265517A (en) * | 1986-05-13 | 1987-11-18 | Mitsubishi Electric Corp | Position detecting device for moving body |
| EP0334890A1 (en) * | 1986-12-10 | 1989-10-04 | McDONALD, Gregory James | Coordinate measuring system |
| JPH01282413A (en) * | 1988-05-09 | 1989-11-14 | Hitachi Cable Ltd | Position shift measuring apparatus |
| US8352212B2 (en) | 2009-11-18 | 2013-01-08 | Hexagon Metrology, Inc. | Manipulable aid for dimensional metrology |
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