JPS60200313A - Robot coordinate corrector - Google Patents

Abstract

PURPOSE:To omit a troublesome teaching operation for positioning points by feeding directly the data on the coordinates of positioning points and a working coordinate system to perform corrections of coordinates in case the coordinates of positioning points are known for the working coordinate system. CONSTITUTION:An orthogonal coordinate system owned first by a robot is defined as x-y together with an original point 0' of a working coordinate system x'-y' and an optional point PX' set on an axis (x). Then a numerical controller calculates the relative positional relations X', Y' and delta' of two coordinate systems by giving a teaching operation to points 0' and PX' respectively. These positional relations are stored in a register R'14. In the same way, the relative positional relations X'', Y'' and delta'' are calculated with a working coordinate system x''-y'' and stored in a register R''14. The positioning data is supplied by a data input device 11, and the input coordinates are supplied directly in the form of G=1 and G=2 with systems x'-y' and x''-y'' respectively. An operator performs operations of Pi Pi'+DELTA and Pj Pj''+DELTA'' and stores Pi and Pj in a memory 15. In an active mode the robot is actuated by giving action commands to a driver based on the data of the memory 15.

Description

DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION The present invention relates to a device for correcting coordinate points on one work in an industrial robot to coordinates in a robot coordinate system possessed by the robot.

Conventional configuration and its problems In conventional industrial robots, when manually inputting the coordinate data of a positioning point, the arm at the tip of the robot is manually moved to the actual positioning point and the data there is input using what is known as teaching. This work was carried out as follows.

However, it takes a huge amount of time to teach a large number of positioning points, and troubles such as the arm hitting the workpiece or peripheral equipment during teaching are likely to occur, which is a major obstacle when using industrial robots. It had become.

Purpose of the Invention The present invention provides a method for determining the positioning point of a robot when the coordinates of the positioning point of the robot are known in advance with respect to a certain coordinate system (work coordinate system) on the work.
This is to avoid the trouble of teaching the positioning points by directly inputting the data I and correcting the coordinates.

Structure of the Invention The structure of the present invention is as shown in FIG.
+1'2+... is known in advance, the relative positional relationship xl, y i, δ1 between the robot soto coordinate thread X-7 and the work coordinate system xi-yi is expressed as the work coordinate system xi-y
Calculate by teaching the origin Oi of i and an arbitrary point p, 1 on the xi thin axis, and input the points p1i+p2i+...,pmli on the coordinate system x l y l to the robot control device. Then, data for the robot coordinate system x-y is obtained, and the coordinate point P11+p2' l...
This eliminates the hassle of teaching...

Description of examples An embodiment of the present invention will be described below based on the drawings.

In FIG. 2, the numerical control device 1 is a data input device 11.
During the execution of device determination, the positioning data read from the storage device 13 is sequentially input to the drive device 2. The drive device 2 drives the arm section 3 at the tip of the robot based on the input data. The manual operation device 4 is equipped with a switch for freely moving the arm section 3 over the entire operating range, and at this time, the numerical control device 1 always maintains the robot coordinate system no matter where the arm section 3 is located. It is configured so that you can know the coordinates of the current position.

Next, a coordinate correction method will be explained based on FIGS. 1, 2, and 3. This is an example in which there are two work coordinate systems and the coordinates of only the X-7 plane need to be corrected.

The orthogonal coordinate system that the robot initially has is the origin 0' of the work coordinate system xl y?, and any point on the X' axis is p.
, 1, by teaching 0' and px', the numerical control device 1 can calculate the relative positional relationships Xt, Y', and δ' between the two coordinate systems. This is stored in the register R'14 inside the storage device 13.

Similarly, by teaching the origin O" of the work coordinate system 7/-yL and an arbitrary point pL/ on the 7' axis, the relative positional relationship X", Y", δ" with the robot's orthogonal coordinate system is calculated. be able to. This is stored in register R"14.

Positioning data is input using the data input device 11. If the input coordinates are in the coordinate system xL y', then G-
1 and directly input the coordinate data of pi' (i=1.2, -, m).

At this time, the arithmetic unit 12 in the numerical control device 1
The calculation pi'+Δ' is performed, and pi is stored in the coordinate memory 15. Here, Δ' is the correction amount p, and between p' and p' is P,
The x+7 coordinate of "i+ 'li+ pl 'ノX'
, 7' coordinates wo x-k', y-k', there is a relationship as follows.

Similarly, if the input coordinates are in the coordinate system x〃yN, then G
==2, then p, # (j = 1,
. . r n ) coordinate data is directly input.

At this time, the arithmetic unit performs the calculation p3°I) j +Δ'l, and pj is stored in the coordinate memory 16. Here, Δ″ is the correction amount, and between pj and pj〃1)j
The xIy coordinates of
There is a relationship where the N coordinates are x, N, y, /l.

Therefore, all the data stored in the coordinate memory 5 has been converted into robot coordinates.

From the above, it can be seen that a positioning point whose coordinates in a certain work coordinate system are known in advance can be replaced with robot coordinates by directly inputting the coordinates in the work coordinate system to the numerical control device 1 without using teaching.

When the robot is operating, the numerical control device 1 sequentially reads data stored in the coordinate memory 5 and gives operation commands to the drive device 2 based on the data, and has the same functions as a general numerical control device. Just let it work.

For the above example, if there are two work coordinate systems, As mentioned above, there is no problem even if there are many.

Furthermore, although the embodiment deals with two-dimensional coordinate correction in the X-Y coordinates, it is easy to see that three-dimensional coordinate correction can also be realized by a similar method.

Claims (1)

[Claims] It has a numerical control device consisting of a data input device, an arithmetic device, and a storage device, a drive section, an arm section, and a manual operation device, and the arm section can be moved within an operating range by giving an input to the manual operation device. The numerical control device is configured to be able to move freely to any point in the orthogonal coordinate system of the work.
A robot coordinate correction device configured to correct work coordinate data input from the data input device to a coordinate system of the robot by teaching points.