JPS5988275A - Method of compensating positional displacement of 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 (1) Technical field of the invention The present invention provides a method for performing operation tests on a device under test using a robot. Part 1
The present invention relates to a method for correcting positional deviation of a robot that allows reference.

(2) Prior Art and Problems Conventionally, automation of operation tests for transaction devices, such as automatic teller machines, has been carried out by performing a continuous run-in operation for each component unit, followed by a comprehensive operation test. Do the following. In this test, a person directly faces the operating section of the device and performs operations similar to those performed at a bank or the like.

This test requires, for example, 600 transactions per machine and 8 hours of man-hours. Having to perform such simple work for a long time, including night work, and requiring high reliability with no room for error in the work places a heavy burden on the workers. Therefore, it is conceivable to use a robot to perform a four-way operation test on such a device. There are two problems in this case.

The first problem is that when a simple robot is used for a long time, the origin of each rotation axis of the robot gradually shifts, making it unusable. Simple robots do not have a mechanism to correct misalignment, so once misalignment occurred, the robot had to be stopped and a human being had to adjust the origin. Furthermore, if the shaft became worn or loose, it became completely unusable.

The second problem is that when automatic testing is performed using a robot, the device under test must be accurately set at a fixed position.

Therefore, for example, it is necessary to use a TV camera to perform 7m acupuncture, it is necessary to prepare expensive and complicated devices and equipment, and only predetermined devices can be used to test the device.

(3) Purpose of the Invention The purpose of the present invention is to easily eliminate misalignment of the origin of each rotary axis of the robot and coordinate deviation of the operating section due to the relative position of the robot and the test device when performing an operation test of the device under test using a robot. It is an object of the present invention to provide a method for correcting positional deviation of a robot, which allows correcting the positional deviation of a robot.

(4) Before construction of the invention In order to achieve the purpose, the method of correcting the positional deviation of the robot of the present invention is to install a sensor across each rotation axis of the robot hand rotation and bending part, and to automatically adjust the deviation from the origin. After correcting the coordinates, the preset origin of the robot is detected by a sensor installed at the tip of the robot hand, the distance from the origin to the target position is measured, and the deviation of the coordinates of the robot hand is determined by calculating the difference between the origin and the target position. This feature is characterized in that it corrects.

(5) Examples of the invention An automatic teller machine is used as the device under test.

As mentioned above, since it takes a very long time to perform a comprehensive operation test of this device by human operation, it is natural to consider having a robot perform this test.

FIG. 1 is a schematic explanatory diagram of an embodiment of the present invention, and is a system block diagram of a testing method using a robot.

In the figure, a robot 1 can freely bend a hand 1-5, which is composed of a plurality of arms attached to the upper end, in all directions by means of an azimuth rotation axis 1-2 on a robot body 1. In addition to keystrokes, inserting and grasping cards, etc., an optical sensor is provided at the tip 1-4, and a status lamp can be detected.

The robot 1 is controlled by a control device 6 comprising a microprocessor. That is, the test procedure for the valley unit of the automatic teller machine 2 is stored in advance on the floppy disk 5, a predetermined test program is specified from the keyboard of the CRT display 4, the contents of the floppy disk 5 are sequentially read out, and the operation is performed according to the operation sequence. Operate the robot.

Then, it detects the lamp that indicates the operating status of the device and monitors the time. If it is normal, the test proceeds, and if there is an abnormality, the robot and device are stopped and predetermined measures are taken. The operating state of the robot can be monitored by a CRT display 4. Figs. 2(a) and 2(b) are diagrams illustrating the configuration of an embodiment of the main part of the present invention.

In the robot 1 shown in FIG. 1, the robot hand has directional rotation axes 1-2. Since the origin of the rotational axis of each arm of the hand 1-6 deviates over time, it is arranged to return to the origin every time a certain unit of operation is completed, automatically correct the positional deviation, and move on to the next operation. This allows a state of precision to be maintained whenever a unit of operation is started.

In Figure 2 <a>, the robot body 1-1 and direction rotation +1
A sensor 111 is installed between the synthesis part of 'l111-2 and the stand 10, a sensor l1g is installed between each arm of the robot hand 1-5,
11m will be provided.

FIG. 6 (6) typically shows an enlarged view of the sensor 11□.

That is, the sensor 111 straddles between the main body 1-1 and the stand 10, the U-shaped cord part 12 is attached to the stand 10, and the tongue piece 15 is attached to the main body 1-1. The width of the tongue piece 13 is determined by the expected amount of deviation.

When the tongue piece 15 returns to its origin, it enters between the light emitting and light receiving elements of the U-shaped element portion 12 and is covered. The first reference method is to rotate the axis of the robot in the direction of either the left or right arrow and search for the position where the tongue piece 15 comes off from the U-shaped bar 12. From this position, a predetermined step is returned to the position opposite to the direction in which it was rotated earlier.

These corrections are done by CPU processing, and the valley sensor 111~
113 can be automatically corrected at the same time.

FIG. 3 is an explanatory diagram of another main part of the embodiment of the present invention.

After correcting the origin of each rotational axis of the robot 1 using the method shown in FIG. That is, even if the device under test 2 is not in the normal position, the coordinate deviation is corrected by the difference value from the normal position, so that a certain program can be applied.

For this purpose, as shown in the figure, the robot node °1-
6) to detect the pre-installed origin sensor 14 of the robot 1 using the sensor 1-4 at the tip of the robot 1; (difference with) Find the direct value. This difference value is incorporated into the robot's coordinate system to perform coordinate transformation, and even if the set position is shifted, the same program can be used for testing.

Furthermore, even if the device under test is different, this method can detect the characteristics and select the corresponding program.

These position detections are performed for necessary coordinates among the X, Y, and Z coordinate systems. In this way, simple robots, like high-end robots, can correct 1- or 1-dimensional coordinate deviations in two or three dimensions.
Correction becomes possible.

(6) As described in detail, according to the present invention, the relative position between each device under test is automatically detected with respect to the origin t''rLK of each rotational axis of the robot, and the operation unit This allows the robot to always maintain high precision for each unit of movement without requiring complicated equipment or personnel, and even if there is slight wear on the axes, It is also possible to operate the robot within the Wf response range, thereby extending the life of the robot.Furthermore, the relative position of the robot and the device can be adjusted without placing the device under test precisely in place. Since the coordinate transformation is performed by determining the coordinates, setting up the device is easy and the conventional complicated pattern recognition device is not required.

In this way, by correcting the positional deviation of the robot itself and the relative position of the robot and the device under test on the necessary coordinate axes, it is possible to achieve high accuracy similar to that of high-end robots using a simple robot. can be maintained.

[Brief explanation of the drawing]

FIG. 1 is a schematic explanatory diagram of an embodiment of the present invention, FIG. 2 (α),
(b) Fig. 3 is an explanatory view of the main parts of the ninth embodiment of the present invention, in which 1 is the robot), 1-1 is the robot body, 1-2 is the direction (9) rotation axis, 1 -3 is a robot hand,
1-4 is an advanced center, 2 is an automatic teller machine, 3 is a control device, 4 is a CRT display, 5 is a floppy disk, 6 is a teaching box, 111° 11, 113
12 is a rotation axis sensor, 12 is a U-shaped cord part, 16 is a tongue piece, 14
1. IG indicates the robot origin sensor. Patent applicant: Fujitsu Limited, patent attorney 1) Yoshishige Saka Figure 1 Figure 2 (a) Figure 2 (b) Figure 3

Claims (1)

[Claims] When installing the robot hand across each rotating axis of the robot hand and bending section, after automatically correcting the deviation from the origin,
The preset origin of the robot is detected by a sensor installed at the tip of the robot hand, the distance from the origin to the target position is measured, and the total deviation of the coordinates of the robot hand is determined by the difference value from the target value. A method for correcting positional deviation of a robot, characterized by correcting the positional deviation of a robot.