JPS5930699A - Robot with visual sensor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot with a visual sensor that performs positioning using an optical sensor.

Conventionally, the positioning of the robot body and hands has been performed using mechanical methods such as stoppers and potentiometers. Therefore, the overall precision cannot be ensured unless all the mechanical methods of each mechanism have high precision. For this reason, it was necessary to minimize bending and wear of each mechanical part, making each part larger and more expensive.

In order to improve the above-mentioned problem, the present invention performs positioning using an optical sensor.

This invention will be explained below.

FIG. 1 is an overall perspective view of a robot with a visual sensor showing an embodiment of the present invention, in which 1 is a robot main body, 2, 3. ．．
Reference numerals 4 denote a vertically movable arm (two axes), a first arm, and a second arm, and each of these arms can be used to position a desired three-dimensional point. 5 is the hand that grasps the object (part), and 6 is the part.

Reference numeral 1 denotes an object (work) to be aligned, and the work of aligning and fitting a cylindrical body and a cylindrical part 6 is shown as an example. 8 is a visual sensor, 9 is a control device, and 10, 11, and 12 are the ends of optical fibers.

FIGS. 2 and 3 show an example of the side and top surfaces of FIG. 1 (f) Visual sensor 8σ). That is, FIG. 2 shows an example of the arrangement of optical sensor elements formed on two opposing sides of the optical fiber end 10 and 121C, and FIG. An example of the arrangement of optical sensor elements formed in the figure is shown.

In FIG. 2, 13 to 19 are the ends I of the optical fiber.
Q, is an elongated optical sensor element that receives a narrow laser beam from 12. Further, in FIG. 3, 20 to 23 are also optical sensor elements that receive a narrow laser beam from the end 11 of the optical fiber.

In FIG. 2, the E-A-B-C'-Df> line is the first
It represents the trajectory drawn by the light from the optical fiber installed at the end 10 or 11 of the optical fiber in the figure, that is, the reference position with respect to the workpiece T, hitting the moving visual sensor 8.

The positioning operation of the robot shown in FIG. 1 will be explained.

First, the distance that the robot itself moves from the origin and the movement of the platform arm 2゜3 is calculated from K, such as the potentiometer of the robot itself, and the approximate positioning can be done, so par 76 is the workpiece 1σ) It is easy to take it to nearby areas. For example, part 6 is workpiece 7 (r
> When the laser beams are directly above the optical fibers, the laser beams from the ends 1G and 12 of the optical fibers are irradiated onto the visual sensor 8, and as shown in FIG. The size is determined (in other words, the positioning accuracy that does not rely on the robot's own visual sensor 8 is the second
The dimensions of the optical sensor elements 14 to 18 are made large enough to be inside the optical sensor elements 14 to 18 in the figure.

Therefore, when the part 6 comes to a predetermined position directly above the workpiece 7 in FIG. 1, it passes from point A to point B in FIG. 2, so the speed on the visual sensor 8 is Since it can be calculated, reduce braking between point B and point C,
It is controlled so that it stops at the dot corresponding to the target point. When the vehicle passes point C, the difference between the actual passing time and the calculated predicted time is corrected and the vehicle is controlled to stop at the point. The back and forth movement is repeated until it finally stops at the optical sensor element 16. When the laser beam from the end 10° 12 of the optical fiber first stops at the optical sensor element 16 at the target point corresponding to point DK, it indicates that it has reached the correct position in the plane direction.

In this way, the positioning accuracy on a plane can ultimately be determined by the accuracy of the optical sensor system. Therefore, the number of optical sensor elements up to the target point is increased for more precise speed control, the width of each optical sensor element is reduced, and the laser beam from the end 10.12 of the optical fiber is narrowed. Accuracy of several tens of micrometers can be easily achieved. Furthermore, in the example of FIG. 1, the end 11 of the optical fiber
Since the laser beam from
You can check with the 0 to 23 buttons, and when the target point is reached, the laser beam will be irradiated to the optical sensor element 23.If you set the laser beam to 5Kl, lower the part 6 downward while making sure it does not come off the optical sensor element 23. By lowering it, it can be fitted into the workpiece 7 accurately.

In this way, a thin laser beam is irradiated at a predetermined position, and by receiving the laser beam with a thin optical sensor element and controlling it while calculating the speed and position, the predetermined position can be precisely set. can be stopped.

As explained in detail above, this invention uses a visual sensor consisting of a plurality of optical sensor elements that receive thin light emitted from a predetermined direction, and position control using the output from each optical sensor element. I have provided the means,
Even if the mechanical accuracy of many parts is reduced, overall accuracy can be maintained at a high level.

Therefore, the dimensions of each part can be reduced, and there is an advantage that an inexpensive robot with high V performance can be realized.

[Brief explanation of the drawing]

Fig. 1 is an overall perspective view of a robot with a visual sensor showing an embodiment of the present invention, Fig. 2 is a view showing an example of the side surface of the visual sensor in Fig. 1, and Fig. 3 is an example of the top of the visual sensor. FIG. In the figure, 1 is the robot body, 2 is the vertical arm, 3 is the first arm,
4 is a second arm, 5 is a hand that grasps an object, 6 is a part, 7 is a workpiece, 8 is a visual sensor, 9 is a control device, 10
-12 are the ends of the optical fibers, and 13-23 are photon sensor elements. Agent Shin Kuzuno - (1 other person)

Claims (2)

[Claims] (1) It has multiple arms, each with a degree of freedom, and 3
In a robot that positions at a predetermined point in a dimension, a visual sensor consisting of a plurality of optical sensor elements that receive narrow light emitted from a predetermined direction, and means for controlling the position using the output of each of the optical sensor elements. A p-pond with a visual sensor, characterized in that it is equipped with the following. (2) The visual sensor is characterized by comprising an optical sensor element for determining the speed with respect to the target point, an optical sensor element for determining the corrected value as a result of braking, and an optical sensor element corresponding to the target point. A robot with a visual sensor according to claim No. ( ).