JPS60220409A - Position detector and position teaching method of robot using said position detector - Google Patents

Position detector and position teaching method of robot using said position detector

Info

Publication number
JPS60220409A
JPS60220409A JP7648184A JP7648184A JPS60220409A JP S60220409 A JPS60220409 A JP S60220409A JP 7648184 A JP7648184 A JP 7648184A JP 7648184 A JP7648184 A JP 7648184A JP S60220409 A JPS60220409 A JP S60220409A
Authority
JP
Japan
Prior art keywords
sensor
reflector
robot
display means
light
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
Application number
JP7648184A
Other languages
Japanese (ja)
Inventor
Sotoji Hiramoto
平本　外二
Yoshinori Naruge
成毛　義徳
Chikara Yoshizumi
吉住　主税
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Hitachi Plant Technologies Ltd
Original Assignee
Hitachi Techno Engineering Co Ltd
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Techno Engineering Co Ltd, Hitachi Ltd filed Critical Hitachi Techno Engineering Co Ltd
Priority to JP7648184A priority Critical patent/JPS60220409A/en
Publication of JPS60220409A publication Critical patent/JPS60220409A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To assemble parts with high accuracy by displaying the output of a reflection type sensor and moving the hand of a robot while monitoring said output display. CONSTITUTION:A position detector contains a reflector 1, a reflection type sensor 3 and a display means 6 for display of reception of the sensor 3. The reflector 1 is attached to an object to be detected and has a convex reflecting surface 2. The sensor 3 irradiates light to the reflector 1 and receives the reflected light 4' from the surface 2 to detect the position of the object 8. The means 6 is connected to the sensor 3 via a signal line 5. A lamp 7 glows when the sensor 3 receives the light 4' to show that the sensor 3 has received the light 4'.

Description

【発明の詳細な説明】 〔発明の利用分野） 本発明は、位置検出装置と、この位置検出装置を使用し
たロボットの位置教示方法に係り、特に高い精度での位
置検出に好適な位置検出装置と、この位置検出装置を使
用して部品組み付は位置を正確かつ簡単に教示するため
に好適なロボットの位置教示方法に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a position detection device and a method of teaching a robot position using this position detection device, and particularly a position detection device suitable for highly accurate position detection. The present invention also relates to a robot position teaching method suitable for accurately and easily teaching parts assembly positions using this position detection device.

〔発明の背景〕[Background of the invention]

反射形センサを用いた従来の位置検出装置は、反射面が
平坦な反射体を使用していた。したがって、反射面の面
積に相当する広い範囲にわたる位置検出が可能であるが
、高精度の位置検出には適さない欠点があった。Conventional position detection devices using reflective sensors have used reflectors with flat reflective surfaces. Therefore, although it is possible to detect a position over a wide range corresponding to the area of the reflecting surface, it has a drawback that it is not suitable for highly accurate position detection.

一方、ティーチングプレイバック方式の部品組み付は用
のロボットにおいて、従来技術では部品の組み付０位置
の検出、教示を目視や勘に頼って行っており、非常に長
時間を要していた。On the other hand, in conventional robots, parts assembly using the teaching playback method relies on visual inspection and intuition to detect the zero position of parts assembly and teach the robot, which takes a very long time.

〔発明の目的） 本発明の目的は、前記従来技術の欠点をなくし、高精度
で位置検出し得る位置検出装置を提供するにあり、さら
に他の目的は前記位置検出装置を使用して部品組み付は
位置を正確かつ簡単に教示し得るロボットの位置教示方
法を提供するにある。[Object of the Invention] An object of the present invention is to eliminate the drawbacks of the prior art and provide a position detection device that can detect a position with high precision.A further object of the invention is to eliminate the drawbacks of the prior art and provide a position detection device that can perform position detection with high precision. The object of the present invention is to provide a method for teaching the position of a robot that can accurately and easily teach the position.

〔発明の概要） 本発明の１番目の発明は、実質的に凸面状の反射面を持
った反射体と、この反射体との間で信号の授受を行う反
射形のセンサと、このセンサが反射信号を受信したとき
にこれを表示する表示手段とを備えたところｌこ特徴を
有するもので、この構成により高精度で位置検出を行う
ことができたものである。[Summary of the Invention] The first aspect of the present invention is a reflector having a substantially convex reflective surface, a reflective sensor that transmits and receives signals between the reflector, and a reflective sensor that transmits and receives signals between the reflector and the reflector. It has the following feature: it is equipped with a display means for displaying a reflected signal when it is received, and with this configuration, it is possible to perform position detection with high accuracy.

また、本発明の２番目の発明は、実質的に凸面状の反射
面を持った反射体と、この反射体との間で信号の授受を
行う反射形のセンサとのいずれか一方をロボットのハン
ドに取り付け、他方を部品の被組付体の部品組付位置に
取り付け、前記センサに反射体からの反射信号の受信を
表示する表示手段を接続し、この表示手段を監視しなが
らロボットのハンドを移動させ、前記反射体からの反射
信号をセンサが受信した位置を検出し、この位置を部品
組み付は位置としてロボットに教示するところに特徴を
有するもので、この構成により前記位置検出装置を使用
して、ロボットに部品の組み付は位置を正確かつ簡単に
教示することができたものである。Further, the second aspect of the present invention is to provide a robot with either a reflector having a substantially convex reflective surface or a reflective sensor that transmits and receives signals between the reflector and the reflector. The sensor is attached to the hand, and the other end is attached to the part assembly position of the body to which the part is to be assembled, and a display means for displaying the reception of the reflected signal from the reflector is connected to the sensor, and the robot hand is monitored while monitoring this display means. is moved, the sensor detects the position where the reflected signal from the reflector is received, and this position is taught to the robot as the part assembly position. With this configuration, the position detection device Using this method, the robot can be taught the assembly position of parts accurately and easily.

〔発明の実施例） 以下、本発明の一実施例を図面により説明する。[Embodiments of the invention] An embodiment of the present invention will be described below with reference to the drawings.

第１図およびＭ２図は、本発明の１番目の発明の一実施
例を示す。FIG. 1 and FIG. M2 show an embodiment of the first aspect of the present invention.

これらの図に示す位置検出装置は、反射体１と、反射形
のセンサ３と、このセンサ３の受信を表示する表示手段
６とを備えている。The position detection device shown in these figures includes a reflector 1, a reflective sensor 3, and a display means 6 for displaying reception by the sensor 3.

前記反射体ｌは、凸面状の反射面２を有している。また
、反射体１はこの実施例では被検体８側に取り付けられ
ている。The reflector l has a convex reflecting surface 2. Further, the reflector 1 is attached to the subject 8 side in this embodiment.

前記センサ３には、この実施例では光センサが使用され
ており、前記反射体１に向かって光４を照射し、反射面
２からの反射光４′を受け取ることによって被検体８の
位置を検出するようになっている。In this embodiment, an optical sensor is used as the sensor 3, and the position of the subject 8 is determined by emitting light 4 toward the reflector 1 and receiving reflected light 4' from the reflective surface 2. It is designed to be detected.

前記表示手段６は、信号線５を介して前記センサ３に接
続され、センサ３が反射光４′を受け取ったときにラン
プ７が点灯し、センサ３が反射光４′を受け取ったこと
を表示するように構成されている。The display means 6 is connected to the sensor 3 via a signal line 5, and when the sensor 3 receives the reflected light 4', the lamp 7 lights up to indicate that the sensor 3 has received the reflected light 4'. is configured to do so.

前記実施例の位置検出装置は、次のように作用する。The position detection device of the above embodiment operates as follows.

すなわち、センサ３から反射体１に向かって光４が照射
さ札その光４は反射面２により反射される。That is, light 4 is emitted from the sensor 3 toward the reflector 1, and the light 4 is reflected by the reflective surface 2.

そして、前記反射面２は凸面状に形成されているので、
第１図に示すごとく、光４が反射面２の頂点の極くわず
かな面で反射した反射光４′のみがセンサ３に戻り、第
２図に示すように、光４が反射面２の頂点からずれると
、その反射光４′はセンサ３に戻らない。したがって、
凸面状の反射面２を持った反射体１と、反射形のセンサ
３との作用により、前記反射体１が取り付けられている
被検体８の位置を高精度で検出することができる。Since the reflective surface 2 is formed in a convex shape,
As shown in FIG. 1, only the reflected light 4' of the light 4 reflected by a very small apex of the reflective surface 2 returns to the sensor 3, and as shown in FIG. If it deviates from the apex, the reflected light 4' will not return to the sensor 3. therefore,
By the action of the reflector 1 having a convex reflective surface 2 and the reflective sensor 3, the position of the subject 8 to which the reflector 1 is attached can be detected with high accuracy.

前記センサ３が反射光４′を受け取ると、表示手段６の
ランプ７に点灯される。その結果、この表示手段６を監
視することによって被検体８の位置検出を確認すること
ができる。When the sensor 3 receives the reflected light 4', the lamp 7 of the display means 6 is turned on. As a result, by monitoring this display means 6, the detected position of the subject 8 can be confirmed.

また、反射光４′がセンサ３に戻って来ないききは、反
射体１が取り付けられている被検体８とセンサ３とを相
対的に移動さぜ、反射光４′がセンサ３に戻って来る位
置を探索するこ吉により被検体８の位置を検Ｈ１ｊ−る
。If the reflected light 4' does not return to the sensor 3, move the object 8 to which the reflector 1 is attached and the sensor 3 relatively, so that the reflected light 4' does not return to the sensor 3. The position of the subject 8 is detected by Kokichi, who is searching for the coming position.

なお、本発明では反射体ｌは図面に示す円弧面に限らず
、円錐形、角錐形や、波形の凸面形のものでもよく、要
は実質的に凸面状であればよい。In the present invention, the reflector l is not limited to the arcuate surface shown in the drawings, but may be a conical shape, a pyramid shape, or a corrugated convex shape, as long as it is substantially convex.

また、センサ３は光センサに限らず、反射体１との間で
信号の授受を行い得るものであればよい。Further, the sensor 3 is not limited to an optical sensor, and may be any sensor as long as it can send and receive signals to and from the reflector 1.

さらに、表示手段６はランプ７が点灯する形式のものに
限らねいこと勿論である。Furthermore, it goes without saying that the display means 6 is not limited to a type in which a lamp 7 is lit.

さらζこは、センサ３をｉ検体８側に取り付けてもよい
。Alternatively, the sensor 3 may be attached to the i-analyte 8 side.

次に、第３図は本発明の２番目の発明としてのロボット
の位置教示方法の一実施態様を示し、第４図は位置教示
に基づく部品組み付は状態を示す。Next, FIG. 3 shows an embodiment of a robot position teaching method as the second aspect of the present invention, and FIG. 4 shows a state in which parts are assembled based on position teaching.

その第３図に示すロボットの位置教示方法では、部品の
被組付体９における部品組付位置に反射体１を取り付け
、ロボット１０のハンド１１正こ反射形のセンサ３を堆
り付け、このセンサ３には信号線５を介して表示手段６
を接続している。In the robot position teaching method shown in FIG. A display means 6 is connected to the sensor 3 via a signal line 5.
are connected.

前記反射体１は、前記第１図および第２図について説明
した凸面状の反射面２を持っている。The reflector 1 has the convex reflecting surface 2 described with reference to FIGS. 1 and 2.

前記センサ３は、前記第１図および第２図について説明
したごとく、反射体１に向かって信号としての光４を照
射し、その反射光４′を受け取り、部品の被組付体９の
位置を検出し得るように構成されている。As explained with reference to FIGS. 1 and 2, the sensor 3 irradiates light 4 as a signal toward the reflector 1, receives the reflected light 4', and determines the position of the part to be assembled 9. is configured to be able to detect.

前記表示手段６は、センサ３に反射光４′が戻って来た
ときに、ランプ７が点灯するようになっている。In the display means 6, a lamp 7 lights up when the reflected light 4' returns to the sensor 3.

そして、部品の被組付体８と、これに取り付けた反射体
１を位置固定し、センサ３から光４を照射しながらロボ
ット１ｏのハンド１１を介してセンサ３を部品の被組付
体９と平行な面内に移動させ、表示手段６を監視しなが
ら、前記光４が反射体１の反射面２で反射されてその反
射光４′がセンサ３に戻って来る位置を探索する。Then, the object to be assembled 8 of the component and the reflector 1 attached thereto are fixed in position, and while the light 4 is irradiated from the sensor 3, the sensor 3 is transferred to the object 9 of the component through the hand 11 of the robot 1o. While monitoring the display means 6, the position where the light 4 is reflected by the reflective surface 2 of the reflector 1 and the reflected light 4' returns to the sensor 3 is searched for.

前記ロボット１０のハンド１】によりセンサ３が移動操
作さ札このセンサ３が反射面２の頂点に一致する位置に
来ると、センサ３から照射された元４の反射光４′　が
センサ３に戻り、この位置検出時に表示手段６のランプ
７が点灯する。The sensor 3 is moved by the hand 1 of the robot 10. When the sensor 3 comes to a position that coincides with the apex of the reflective surface 2, the original reflected light 4' emitted from the sensor 3 returns to the sensor 3. , the lamp 7 of the display means 6 lights up at the time of this position detection.

前記反射面２から反射された反射光４′がセンサ３に戻
る位置を、部品組付位置としてロボット１０に教示する
。The position where the reflected light 4' reflected from the reflective surface 2 returns to the sensor 3 is taught to the robot 10 as the part assembly position.

前述のごとく、凸面状の反射面２を持った反射体１と、
センサ３（！：、このセンサ３が信号としての反射光４
′を受け取ったことを表示する表示手段６とを備えた位
置検出装置を使用することによって、ロボット１ｏに部
品組付位置を正確かつ簡単に教示することができる。As mentioned above, a reflector 1 having a convex reflective surface 2,
Sensor 3 (!:, This sensor 3 receives reflected light 4 as a signal.
By using a position detection device equipped with a display means 6 that indicates that the robot 1o has received the message ``, it is possible to accurately and easily teach the robot 1o the position to assemble the parts.

なお、この第３図に示す実施態様では、反射体１を被組
付体９の部品組付位置に取り付け、センサ３をロボット
１ｏのハンド１１に取り付けているが、センサ３を被組
付体９の部品組付位置に取り付け、反射体１をロボッ１
−１０のハンド１１に取り付けてもよい。In the embodiment shown in FIG. 3, the reflector 1 is attached to the part assembly position of the object to be assembled 9, and the sensor 3 is attached to the hand 11 of the robot 1o. 9, and attach the reflector 1 to the robot 1.
It may be attached to the hand 11 of -10.

前述のように、ロボッ１−１０に部品位置を教示すると
、ロボット１ｏはプレイバック時に第４図に示すごとく
、ハンド１１で部品１２をつかんで部品組付位置へ運び
、その部品１２を被組付体９における部品組付位置に組
み付ける。As mentioned above, when the robot 1-10 is taught the part position, the robot 1o grabs the part 12 with the hand 11 and carries it to the part assembly position, as shown in FIG. Assemble the parts at the parts assembly position on the attached body 9.

〔発明の効果〕〔Effect of the invention〕

以上説明した本発明の１番目の発明によれば、実質的に
凸面状の反射面を持った反射体と、この反射体との間で
信号の授受を行う反射形のセンサと、このセンサが反射
信号を受信したときにこれを表示する表示手段とを備え
ているので、被検体の位置を高精度で検出し得る効果が
ある。According to the first aspect of the present invention described above, there is provided a reflector having a substantially convex reflective surface, a reflective sensor that transmits and receives signals between the reflector, and the sensor. Since the apparatus includes display means for displaying a reflected signal when it is received, the position of the subject can be detected with high precision.

また、本発明の２番目の発明によれば、実質的に凸面状
の反射面を持った反射体と、この反射体♂の間で信号の
授受を行う反射形のセンサとのいずれか一方をロボット
のハンドに取り付け、他方を部品の被組付体の部品組付
位置に取り付け、前記センサに反射体からの反射信号の
受信を表示する表示手段を接続し、ついでこの表示手段
を監視しながらロボットのハンドを移動させ、前記反射
体からの反射信号をセンサが受信した位置を検出し、こ
の位置を部品組み込み位置としてロボットに教示するよ
うにしているので、前記位置検出装置を使用して、ロボ
ットに部品組付位置を正確かつ簡単に教示し得る効果が
ある。According to the second invention of the present invention, either one of a reflector having a substantially convex reflecting surface and a reflective sensor that transmits and receives signals between the reflector ♂ is provided. one is attached to the hand of the robot, the other is attached to the part assembly position of the body to which the part is to be assembled, a display means for displaying the reception of the reflected signal from the reflector is connected to the sensor, and then, while monitoring this display means, The robot's hand is moved to detect the position where the sensor receives the reflected signal from the reflector, and this position is taught to the robot as the part installation position, so using the position detection device, This has the effect of being able to accurately and easily teach the robot the parts assembly position.

【図面の簡単な説明】[Brief explanation of drawings]

第４図および第２図は本発明の１番目の発明の一実施例
を示すもので、その第１図は反射体の反射面からの反射
光がセンサに戻り、被検体の位置が検出された状態を示
す図、第２図は反射面からの反射光がセンサに戻らず、
被検体の位置が検出されていない状態を示す図、第３図
は本発明の２番目の発明の一実施態様を示す図、第４図
は本発明方法によりロボットに部品組付位置を教示後、
プレイバックさせた状態を示す図である。 １・・・反射体、２・・・凸面状の反射面、３・・・反
射形のセンサ、４・・・センサから発信された信号とし
ての光、４′・・・反射信号としての反射光、５・・・
センサと表示手段とを接続する信号線、６・・・センサ
が反射信号を受け取ったことを表示する表示手段、８・
・・被検体、９・・・部品の被組付体、１０・・・ロボ
ット、１１・・・ロボットのハンド、１２・・・部品。 昇１図　＄２゜4 and 2 show an embodiment of the first aspect of the present invention, and FIG. 1 shows that the reflected light from the reflective surface of the reflector returns to the sensor and the position of the subject is detected. Figure 2 shows the state in which the reflected light from the reflective surface does not return to the sensor.
FIG. 3 is a diagram showing an embodiment of the second invention of the present invention, and FIG. 4 is a diagram showing a state in which the position of the subject is not detected. FIG. ,
It is a figure showing the state where it was played back. 1...Reflector, 2...Convex reflective surface, 3...Reflective sensor, 4...Light as a signal transmitted from the sensor, 4'...Reflection as a reflected signal Light, 5...
A signal line connecting the sensor and the display means, 6... A display means for indicating that the sensor has received a reflected signal, 8.
...Object to be inspected, 9...Object to be assembled with parts, 10...Robot, 11...Robot hand, 12...Parts. Ascent 1 figure $2゜

Claims (1)

【特許請求の範囲】 １、実質的に凸面状の反射面を持った反射体と、この反
射体との間で信号の授受を行う反射形のセンサと、この
センサが反射信号を受信したときにこれを表示する表示
手段とを備えていることを特徴とする位置検出装置。 ２、実質的に凸面状の反射面を持った反射体と、この反
射体との間で信号の授受を行う反射形のセンサとのいず
れか一方をロボットのハンドに取り付け、他方を部品の
被組付体の部品組付位置に取り付け、前記センサに反射
体からの反射信号の受信を表示する表示手段を接続し、
この表示手段を監視しながらロボットのハンドを移動さ
せ、前記反射信号をセンサが受信した位置を検出し、こ
の位置を部品組み込み位置としてロボットに教示するこ
とを特徴とする位置検出装置を使用したロボットの位置
教示方法。[Claims] 1. A reflector having a substantially convex reflective surface, a reflective sensor that transmits and receives signals between the reflector, and when the sensor receives a reflected signal. and display means for displaying the position detection device. 2. Attach one of a reflector with a substantially convex reflective surface and a reflective sensor that sends and receives signals to and from the reflector to the robot's hand, and attach the other to the robot's hand. attached to the component assembly position of the assembly, and connecting the sensor to a display means for displaying reception of a reflected signal from the reflector;
A robot using a position detection device, characterized in that the hand of the robot is moved while monitoring the display means, the position where the sensor receives the reflected signal is detected, and this position is taught to the robot as a part installation position. position teaching method.
JP7648184A 1984-04-18 1984-04-18 Position detector and position teaching method of robot using said position detector Pending JPS60220409A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7648184A JPS60220409A (en) 1984-04-18 1984-04-18 Position detector and position teaching method of robot using said position detector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7648184A JPS60220409A (en) 1984-04-18 1984-04-18 Position detector and position teaching method of robot using said position detector

Publications (1)

Publication Number Publication Date
JPS60220409A true JPS60220409A (en) 1985-11-05

Family

ID=13606381

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7648184A Pending JPS60220409A (en) 1984-04-18 1984-04-18 Position detector and position teaching method of robot using said position detector

Country Status (1)

Country Link
JP (1) JPS60220409A (en)

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