JPS597579A - Method of teaching workpiece axis to robot - 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 When a workpiece is machined by a robot 2 For example, when a robot tightens a nut onto a bolt, which is a workpiece, it is necessary to teach the axis of the bolt to the robot.

Conventionally, this teaching has been performed by independently operating a plurality of nine rotation axes of movement provided on the robot.

However, it is extremely difficult and time consuming for a worker to move the robot's multiple axes to accurately align the tool with the axis of the workpiece (bolt).

The present invention solves the upper dC problem, and a first jig whose tip is positioned on the axis of the tool is attached to the tool axis of the robot, and the workpiece is attached to the workpiece to be machined by the robot. A second anchor whose axis line coincides with the axis of the object is attached, and the robot is manually operated to move the tip of the first anchor to the second anchor.
The first jig is positioned on the axis of the tip of the jig, the robot memorizes this first position, and the robot is operated so that the first jig separates from the second jig. A sixth jig of different length is attached to the workpiece so that the axis of the third jig coincides with the axis of the workpiece, and the robot is manually operated to align the tip of the first jig. The third above
The jig is positioned on the axis of the tip of the tool, this second position is stored in the robot, and then the robot is automatically operated based on the memory of the first and second positions, so that the axis of the tool axis is aligned with the first and second positions. parallel to the straight line connecting the two positions, then manually operate the robot to position the tip of the first jig on the axis of the tip of the fifth jig, and store this third position in the robot. The present invention relates to a tool axis teaching method for a robot, characterized in that: Therefore, the robot can be taught the position of the tool axis simply by manually detecting the first, second, and third positions, making the teaching work easy. Since the tool is moved based on calculation, accurate axis alignment can be achieved.

Hereinafter, two embodiments of the present invention will be specifically explained in degrees Celsius.

1 to 6, a robot 1 has a main body 4 on a rail 2 which is moved by a pulse motor 3 in the left-right direction in FIG.
A column 6 is attached to the main body 4 so as to be movable up and down via a pulse motor 5. An arm 8 is attached to the columnar body 6 so as to be movable in the left-right direction in FIG. 1 by a pulse motor 7. A tool 11 is mounted on the arm 8 so as to be rotatable by a pulse motor 9 in a plane parallel to the plane of FIG. 1 and by a pulse motor 10 in a plane parallel to the plane of FIG. 2. During operation, the tool 11 is used to attach a socket, fit a nut into the socket, and tighten the nut onto a stud bolt (see FIG. 6). The first jig 12 is attached to the tool 11 instead of a socket, and has a tip 13 formed into an acute angle. The second jig 14 is formed in a cylindrical shape and has a screw hole at the bottom,
A cross-shaped cut line is drawn on the top surface such that the axis of the screw hole is the intersection point 15. The sixth jig 16 is the second jig 1
It has a cylindrical body longer than 4 and has a screw hole at the bottom.

A cross-shaped cut line is drawn on the top surface such that the axes of the screws of the same size form an intersection point 17. 18 is a stand bolt.

The robot 1 attaches a socket to a tool 11, and automatically tightens a nut fitted into the socket onto a stand bolt 18.

Therefore, the position of the stud bolt 18 on the robot 1.

When storing the axial direction, first the first jig 12 is attached to the tool 11 instead of the socket. Then, the axis of the tool 11 and the tip 13 of the first jig 12 coincide. Then the second
Screw the screw hole of the jig 14 onto the stand bolt 18
In the state shown by the two-dot chain line in FIG. The tool 11 is moved by operating the switches that operate the PAL, smoke 3, and 5.7 in the teaching box No. 1, respectively, and the tip 13 of the first jig 12 is brought into contact with the intersection of the second jig 14. .Here, the position of the tip 13 (hereinafter referred to as the first position) is memorized in the robot 1.Continued.

The above switch is operated to operate the pulse motors 3, 5.7 to separate the first jig 12 and the second jig 14 as well. Therefore, the second work boat detaches the second jig 14 from the stud bolt 18, screws the stand bolt 18 into the hole of the third jig 16, and connects the axis of the third jig 16 with the stud bolt 18. coincides with the axis of

The intersection 17 of the third jig 16 is located on the axis of the stand bolt 18. Next, the second work boat operates the switch ' to operate the pulse motors 3, 5.7, and the tool 11.
Move the tip 13 of the first jig 12 to contact the intersection 17 of the third jig 16, and make q4t1 memorize the position of the upper 8C tip 13 (g, referred to as the upper 2nd place). . Then, worker 1 turns on the "centering" switch on the control panel (not shown) of robot 10, and then turns on the "start" switch. Then, the robot 1 calculates a straight line connecting the first and second positions, and operates the pulse motors 9 and 10 to position the tool 11 parallel to the straight line. next.

A worker operates the switches in the teaching box as appropriate to turn the pulse motors 3, 5, . Rotate the f.

The tip 13 of the first jig 12 is brought into contact with the intersection 17 of the sixth jig 16, and the robot 1
The robot 1 stores the axial position and direction of the stud bolt 18. and.

Work i is to operate the tool axis direction movement switch on the control panel to raise the tool 11 onto the stand bolt 18, detach the first jig 12 from the tool 11, and detach the third jig 16 from the stand bolt 16. let

Next, the tool 11 is moved toward the stand bolt 18 by operating the tool axial direction movement switch, and the robot 1 memorizes the position where the NAND is completely tightened into the stand bolt 1B. At this time again.

The rotation start position and rotation speed of the tool 110 are also stored in the robot.

Therefore, 0 bond 1 is obtained by calculating the axial direction of the stand bolt 18 from the first and second positions.

Compared to the conventional work i, in which the motor for each axis of the robot was operated manually to position the tool axis on the above-mentioned axis, the alignment work is much easier, and the axis of the tool 11 and the stand bolt 18 are securely aligned. .

In the above embodiment, a robot that tightens a nut onto a bolt has been described, but in a robot that tightens a bolt into a weld nut, the second and third jigs are formed of bolts that are screwed into the weld nut.

Just make a cross-shaped cut on the head of the bolt.

Also, at this time, the position of the bolt head may be changed by using the same bolt as the second and third jigs and changing the amount of tightening into the nut.

Also, when applied to something that fits a rod into a hole, the second
The sixth jig may be a flanged bottle, the amount of protrusion may be changed depending on the position of the brim, and a cross-shaped scribing line may be formed on the head of the pin.

[Brief explanation of drawings]

Fig. 1 is a front view of an apparatus according to an embodiment of the present invention, Fig. 2 is a side view of the apparatus according to the above embodiment, and Fig. 3 is a first jig 1 of an embodiment.
2 is a perspective view of the second jig 14 of one embodiment, and FIG. 5 is a perspective view of the third jig 16 of one embodiment. FIG. 6 is an explanatory diagram of a method according to an embodiment of the present invention using the apparatus according to the embodiment described above. -4:

Claims (1)

[Claims] A first fixture whose tip is located on the axis of the tool is attached to the tool axis of the robot, and a workpiece to be machined by the robot is provided with an axis line aligned with the axis of the workpiece. Mounting the matched second jig, manually operating the robot to position the tip of the first jig on the axis of the tip of the second jig, and storing this first position in the robot. The robot is operated so that the first jig separates from the second jig, and then a fifth jig having a different axial length from the second jig is moved to the workpiece so that the axis of the sixth jig is different from the second jig. The robot is manually operated to position the tip of the @1 jig on the axis of the tip of the sixth jig, and the second position is set on the robot. Let me remember. Next, the robot is automatically operated based on the memory of the first and second positions to make the axis of the tool axis parallel to the straight line connecting the first and second positions, and then the robot is manually operated to make the axis of the tool axis parallel to the straight line connecting the first and second positions. A method for teaching a workpiece axis line of a robot, characterized in that the tip of the first jig is located on the axis of the tip of the third jig, and the sixth position is memorized in the robot.