JPS606395A - Detector for position - 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 [Field of Application of the Invention] The present invention relates to a position detection device that detects the relative position of two parts in positioning the two parts when they are assembled.

[Background of the invention]

When a robot is used to assemble two parts,
For example, if the hand 2 of the robot arm 1 admonishes the bearing 5 as shown in FIG. It is necessary to indicate to the robot the combination position with axis 5.

One of the teaching methods is the teaching play pack method. In this method, for example, the bearing 3 shown in FIG. The robot is taught by operating the robot using a control panel while making judgments.

However, since the above-mentioned method uses visual positioning, the positional accuracy of the parts is poor, and there are problems in that not only does it take a lot of time to teach, but the teacher gets tired.

In addition to the teaching play pack method described above, there is a coordinate input method, but this method also ultimately requires visual position confirmation using the actual product, and has the same problem as the teaching play pack method.

[Purpose of the invention]

The purpose of the present invention is to solve the problems of the prior art described above,
It is an object of the present invention to provide a position detection device that can teach a robot how to position parts relative to each other without relying on visual inspection, and can determine the positional accuracy of the parts.

[Summary of the invention]

To achieve this objective, the position detection device of the present invention includes:
A plurality of transmitters, a transmitter holder that holds these transmitters with their transmission directions in the same direction, receivers corresponding to each of the transmitters, and a receiver that holds these receivers. The present invention is characterized in that the transmitter and the receiver are installed with their corresponding transmitters and receivers offset within the operating range.

[Embodiments of the invention]

Before explaining specific embodiments of the present invention, the principle of the position detection device according to the present invention will be explained with reference to FIGS. 2 and 3. A pair of sensors, a transmitter S1 and a receiver S2,
The transmitter S6 and receiver S4 of the other pair of sensors are installed with their cores shifted within the operating range, and the transmitter S6 and receiver S4 of the other pair of sensors are shifted in the opposite direction to the direction in which the transmitter S1 and receiver S2 are shifted. A saw is installed in parallel to the sensor S1 and the receiver s2, respectively, and when the outputs from these two sensors are output at the same time, it is assumed that the mutual positioning of the parts has been performed. Therefore, the positioning accuracy is (1)-2a) where b is the operating range of the sensor and a is the amount of deviation, which is higher than in the case of one sensor.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. A and 5, taking as an example an arrangement for positioning a bearing and a shaft. FIG. 4 shows a side view of the position detection device according to the present invention being held by a robot and a holding layer, and FIG. 5 shows a plan view taken from the direction A-x in FIG. 4. In the figure, the position detection device includes five optical sensors, a light emitter holder 6 that holds the light emitter of each sensor, and a light receiver holder 7 that holds the light receiver of each optical sensor. The light projection 3J holder 6 has a cylindrical shape and is attached to the hand 2 of the robot arm 1. The light receiver holder 7 has a cylindrical shape and is attached to the holding layer 4 for the width shown in FIG. When the optical device holder 7 is attached to the holding layer 4, its center coincides with the center of the shaft 5 in FIG. 1 held by the holding layer 4. The first sensor floodlight 8 is attached to the center of the end face of the floodlight holder 6, and the second
The sensor floodlight 9, the sixth sensor floodlight 10, the fourth sensor floodlight 11, and the fifth sensor floodlight 12 are each mounted near the outer periphery of the end surface of the floodlight holder 6 on which the first sensor floodlight 8 is attached, on a diagonal line that divides the end surface into six parts. It will be done. On the other hand, the first sensor light receiver 13 is mounted on the light receiver holder 7
is attached to the center of the end face of the second sensor receiver 14.
, the sixth sensor receiver 15 and the fourth sensor receiver 16
, the fifth sensor light receivers 17 are respectively attached to the end face of the light receiver holder 7 at positions shifted in the outer circumferential direction of the light receiver holder 7 within the operating range with respect to the corresponding light emitters.

Next, the operation of the position detection device according to the present invention will be explained. By moving the robot arm 1, the light emitter part is gradually brought closer to the center HD of the light receiver part, and outputs are first output from the sensor light emitter 8 and the first sensor receiver 13. At this time, the positional accuracy between the center line C of the emitter section and the center line of the light receiver section is within the operating range of the first sensor and is therefore poor. Next, when there is no output from any of the second to fifth sensors, the first sensor light projector 8 is rotated by the center pressure of the projector section so that an output is output from any of the second to fifth sensors. After that, move the projector section in the direction of the sensor diagonally opposite to the sensor that outputs the output, so that the output comes from the sensor diagonally opposite. Finally, move the floodlight in the direction of the sensor that is not outputting any output, so that output will be output from that sensor, and when all sensors output, the relationship between bearing 3 and shaft 5 shown in Figure 1 will be established. Positioning is complete.

Therefore, in the position detecting device according to the present invention, since the robot can be taught the positioning of the bearing and the shaft without relying on visual pressure, the positioning accuracy can be improved and the positioning teaching to the robot can be simplified.

Furthermore, the position detection device according to the present invention can also position the hand 2 of the robot arm 1 and the supply section 18 when the bearing 5b protrudes from the supply section 1B by the hand 2 of the robot arm 1, as shown in FIG. That is, by attaching a light projector holder to the /1 hand 2 and a light receiver holder to the supply section 18, the hand 2 and the supply section 18 can be positioned.

Further, in the present invention, if the second to fifth sensors are provided on different circumferences, it is also possible to perform positioning in the rotational direction.

In the above embodiment, an optical sensor was used as the sensor, but it is also possible to use a magnetic sensor, an ultrasonic sensor, or the like.

〔Effect of the invention〕

As described above, according to the present invention, the positioning of two parts can be taught to the robot without relying on visual inspection, so the positioning accuracy can be increased, and the positioning can be taught to the robot easily.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a state in which a bearing is fitted onto a shaft by a robot, FIGS. 2 and 3 are side views according to the present invention, and FIG.
4 and 5 show embodiments of the present invention. FIG. 4 is a side view of the position detecting device according to the present invention being held by a robot and a holder, and FIG. 5 is a south plane of FIG. 4 viewed from the direction A-N, and FIG. 6 is a side view when the bearing is taken out by the robot. Sl, S3...Sensor transmitter, 82. Sli...
・Sensor receiver, b...Sensor operating range, 1
...Robot, 2...Hand, 3...Bearing, 4.
... Holder, 5... Axis, 6... Floodlight holder, 7.
...Receiver holder, 8...1st sensor emitter, 9.
...Second sensor projector, 10...Third sensor projector, 11...Fourth sensor projector, 12...Fifth sensor projector, 13...First sensor receiver, 14...
・Second sensor receiver, 15...Third sensor receiver, 16...Fourth sensor receiver, 17...Fifth sensor receiver Kasuri 5 diagram

Claims (1)

[Claims] A position detection device that detects the relative position of two parts that are combined with each other, comprising a plurality of transmitters, a transmitter holder that holds the transmitters with their transmitting directions in the same direction, a corresponding receiver for each of said transmitters;
What is claimed is: 1. A position detection device comprising a receiver holder for holding these receivers, and in which the corresponding transmitters and receivers are installed with their corresponding transmitters and receivers shifted from each other within an operating range.