JPS6295606A - Setting device for 3-dimensional position - Google Patents

Abstract

PURPOSE:To improve greatly the efficiency and the accuracy of teaching jobs by providing an optical fiber system which forms the 1st luminous point and plural second luminous points to set the counter distances on an object together with an image pickup fiber system. CONSTITUTION:A teaching head 3 is put close to a teaching point PO on the surface of a work 9 and luminous points S1-S4 are formed by the light beams delivered from optical fiber systems 31-34. These points S1-S4 are picked up by an image pickup fiber system 35 together with a marking-off line K and the point PO and displayed on an image display device. Under such conditions, the head 3 is moved so that the image pickup screen of the point PO is coincident with a reference position mark M1. Then the distance between the head 3 and the work 9 is controlled so as to obtain the coincidence between the point S1 and a reference position mark S1. Furthermore the posture of the head 3 is controlled to the surface of the work 9 so that the points S2-S4 are coincident with the reference position marks M2-M4 respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a three-dimensional method used to set the three-dimensional position of a head in a predetermined relative positional relationship with respect to a position setting point displayed on an object. This invention relates to improvements to original position setting devices.

(Technical background of the invention and its problems) For example, in industrial robots installed in the product assembly process, material cutting process, processing process, etc. on a production line, there is a need to perform tasks on the robot before actually operating it. It is necessary to teach the movement path and operation procedure of the head in accordance with the shape of the three-dimensional workpiece. This work of teaching the three-dimensional movement of the work head is called teaching, and this teaching has conventionally been generally performed manually by the operator. For example, when teaching a CO2 laser cutting robot, the operator moves the processing head close to the teaching point of the scribe line drawn on the surface of the workpiece while operating the teaching pendant.
Thereafter, teaching is performed by setting the three-dimensional position of the processing head so as to have a predetermined relative positional relationship with respect to the teaching point, and storing the three-dimensional position information at this time. However, in such conventional teaching work, the operator directly visually observes the three-dimensional position of the processing head relative to the teaching point.
The disadvantage is that teaching requires time and effort, and moreover, accurate positioning requires skill.

Therefore, recently, in order to improve the efficiency of teaching work, for example, a magnetic sensor is placed near the machining head, the magnitude of the eddy current generated in the workpiece is detected by this magnetic sensor, and the detected value is used to inform the machining process. The distance to the workpiece surface is calculated, and the facing distance of the processing head to the workpiece is set based on the numbing result. However, when using such a conventional position setting device, it is certainly possible to easily set the facing distance of the head to the workpiece, but since the detection area of the magnetic sensor is large, the distance between the workpiece and the minute area of the head can be easily set. The measurement accuracy of the facing distance was low, and the attitude of the processing head facing the workpiece still had to be determined visually by the operator, making it impossible to expect a significant improvement in teaching efficiency and accuracy.

(Objective of the Invention) The present invention enables teaching to be performed accurately in a short period of time and without requiring any skill, thereby significantly improving the efficiency and accuracy of teaching work, and by reducing the size of the work head. It is an object of the present invention to provide a three-dimensional position setting device that can easily perform teaching work by reducing interference with the object.

[Summary of the invention]

In order to achieve the above object, the present invention includes a first optical fiber optical system that projects light obliquely onto a target object to form a first bright spot for setting the facing distance; a second optical fiber optical system that emits light and forms a plurality of second bright spots such that a line connecting them to the first bright spot forms at least a triangle; An optical fiber optic system is provided for imaging each bright spot formed on an object and a position setting point displayed in advance on the object; A light projection light source optically coupled to the optical fiber optical system of No. 2 and a sensor drive device incorporating a Wi image optically coupled to the optical fiber optical system for 111 m are provided, and an image is captured by this 'II image device. The structure includes an image display device that displays each bright spot and position setting point, and each bright spot and position setting point respectively displayed on the image display device when setting the head position are displayed on the first display means and the second display means. displaying a first reference position mark and a plurality of second reference position marks as alignment targets fixedly displayed in advance at a predetermined position on the display screen of the image display by the display means; The three-dimensional position of the head can be set by visually checking the screen and adjusting the facing distance and facing attitude of the head relative to the object so that they match.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of the configuration of a three-dimensional position setting device according to the present invention. In FIG. 1, 1 is a head body of a robot, and a teaching head 3 is attached to one surface of the robot body 1. This robot body 1 is rotatably connected to a robot arm (not shown), and by rotating the head body 1 during teaching, the teaching head 3 can be opposed to the surface of a workpiece 9 as an object. It has become.

Now, as shown in FIG. 1, the three-dimensional position setting device of this embodiment includes the teaching head 3, an imaging optical fiber optical system and a light projection optical fiber optical system, the details of which will be described later, provided in the teaching head 3. A sensor driver 4 optically coupled to the system, a sensor controller 5 that controls the sensor driver 4, a reference position pattern of measurement light created by the sensor controller 5, and a reference position pattern imaged by the teaching head 3. The image display device 7 is composed of a CRT display that displays images.

Next, the details of the internal structure of the teaching head 3 will be explained with reference to FIGS. 2 and 3. FIG. 2 is a longitudinal sectional view of the teaching head 3 shown in FIG. 1, and FIG. FIG. 4 is a sectional view taken along the line ■-■ in FIG. 2. As shown in FIGS. 2 to 4, four optical fiber optical systems 31 to 34 for projecting light and an optical fiber optical system 32 for W1 are housed inside the teaching head 3. In addition, in FIG. 3, the light projection optical fiber optical system 32 is hidden and located directly below 31.

Each of the light projection optical fiber optical systems 31 to 34 includes reflectors 131b and 32b fixed to grooves or holes formed inside the teaching head 3, respectively.

33b, 33b-1, 34b, 34b-1 and condenser lenses 31d, 32d, 33d, 34d, each of which has a sensor driver 4 as shown in FIG.
are optically coupled to the semiconductor laser devices 31a to 34a. In this case, anti-tIA mirrors 31b, 32b, 33b
, 33b-1° 34b, 34b-1 are the holding body 31c,
32c.

It is fixed by 33c, 33cm1, 34c, and 34cm1. These light projection optical fiber optical systems 31-34 convert the laser beams generated from the semiconductor laser devices 31a-34a into narrow beams using condensing lenses 316-34d, and further reflect the beams 1131b.

32b, 33b, 33b-1, 34b.

34b-1, and is projected onto the surface of the workpiece 9 to form bright spots, and the light projection optical fiber optical system 31 has a bright spot S for setting the facing distance, as shown in FIG.
1 and the other optical fiber optical systems 32 to 34 for light projection form bright spots S2 to $4 for attitude setting, respectively. On the other hand, the I-image optical fiber optical system 35 sends an image of the workpiece 9 to an imager 35-3 shown in FIG. 1 through an imaging lens 35-1 and a reflecting mirror 35-2 as shown in FIG. It is something that guides. In addition, as shown in FIG. 5, this sake cup 353 has bright spots S1 to S4 formed on the surface of the workpiece 9 by each of the light emitting optical fiber optical systems 31 to 34, and markings drawn in advance on the workpiece surface. A teaching point P is placed above the line.

Returning to FIG. 1 again, the sensor controller 5 is connected to the workpiece 9.
A first reference position mark M1 used to set the facing distance of the head with respect to the workpiece 9 and three second reference position marks M2 to M4 used to set the attitude of the head with respect to the workpiece 9 are respectively generated. Therefore, each of these reference position marks M1 to M4 is superimposed on the single image signal from the ms unit 35-3 at a predetermined position on the display screen of the image display 7 as shown in the first factor. It is to be displayed.

Next, the operation of the apparatus of this embodiment configured as described above will be explained according to the position setting operation procedure. In addition, here, work 9
An example of setting the three-dimensional position of the teaching head 3 with respect to a teaching point PO on a scribing line drawn on the surface will be explained.

The sensor controller 5 is displayed on the display screen of the image display 7.
Each of the reference position marks M1 to M4 generated from the above is fixedly displayed at a predetermined position as shown in FIG.

In this state, the operator operates the teaching pendant to move the teaching head 3 to the teaching point P on the surface of the workpiece 9.
When brought close to O, the light beams generated from the light projection optical fiber optical systems 31 to 34 in the teaching head 3 are irradiated onto the surface of the workpiece 9 to form bright spots S1 to S4. These bright spots S1 to S4 are then imaged on the scribing line displayed on the surface of the workpiece 9 and together with the teaching point PO by the image pickup device 35-3, and displayed as an image on the image display 7.

Now, in this state, the operator operates the teaching pendant while visually viewing the displayed image on the image display 7.
First, the teaching head 3 is moved along the surface of the workpiece 9 so that the captured image of the teaching point PO matches the first reference position mark M1 fixedly displayed on the display screen. Then, the image of the teaching point PO and the first reference position mark M1
When the display positions match, the next bright spot S1 on the display screen
Paying attention to this bright spot S1 and the first reference position mark M1
The distance of the head 3 with respect to the workpiece 9 is adjusted based on which positional relationship the bright spot S1 coincides with the first reference position mark S1. For example, as shown in FIG. 5(b), the bright spot S
1 deviates from the first reference position mark M1 toward the bottom of the screen, the head 3 moves toward the workpiece 9 as shown in FIG. 5(a).
Since the head 3 is still too far from the surface of the workpiece 9, the head 3 is brought closer to the workpiece 9 little by little while visually checking the displayed image, and the head 3 is stopped when the bright spot S1 coincides with the first reference position mark M1. Note that 9' indicates the position of the work 9 from the head 3 when the bright spot S1 coincides with the first reference position mark M1.

In this way, the distance between the head 3 and the workpiece 9 is set. When the setting of this facing distance is completed, the operator now focuses on the bright spots S2 to S4 and moves these bright spots S2 to
The attitude of the head 3 with respect to the surface of the workpiece 90 is determined from the positional relationship between the $4 and the second reference position marks M2 to M4, and the teaching pendant is operated while visually viewing the displayed image to ensure that each of the bright spots S2 to S4 is the first position. 2 reference position mark M2~
Adjust the attitude of the head 3 so that it matches the position of M4. For example, if only the position of the bright spot S2 is deviated from the mark as shown in FIG. 6(b), the head 3 may be moved between the bright spots S1 and S2 with respect to the surface of the workpiece 9 as shown in FIG. 6(a). The inclination of the head 3 with respect to the surface of the workpiece 9 is changed until the bright spot S2 is aligned with the mark M2, and thereby the head 3 is opposed to the surface of the workpiece 9. Set vertically. On the other hand, the seventh
As shown in Figure (b), a bright spot 83. Mark M corresponding to S4
3. If the head 3 is deviated from M4, the head 3 is
), it is determined that the head 3 is tilted in the direction of the line passing through <83.81.84, and the inclination of the head 3 is adjusted to
4 until it coincides with the marks M3 and M4, thereby setting the state of the head 3 facing the surface of the workpiece 9 perpendicularly. Also, the marks M2 and M3. to which the bright spots S2 and S3, 84 correspond, respectively. If it deviates from the position of M$, the attitude of the head 3 with respect to the surface of the workpiece 9 is adjusted by adjusting the above-mentioned inclination in each direction.

In this way, the attitude of the head 3 facing the surface of the workpiece 9 is set. And as above, all the bright spots S
1 to S4 coincide with the positions of the reference position marks M1 to M4, the setting of the three-dimensional position of the head 3 with respect to the teaching point PO is completed. When the setting of the three-dimensional position of the head 3 with respect to the teaching point PO is completed, the operator operates the teaching button on the teaching pendant to store information on the three-dimensional position of the head 3 at this time in the controller of the robot. With this, the teaching operation of the three-dimensional position of the head 3 with respect to the teaching point PO is completed.

In this embodiment, the operator visually checks the display screen of the image display 7 and adjusts the height of the surface of the workpiece 9 so that each of the bright spots S1 to S4 coincides with the display position of the reference position marks M1 to M4. All you have to do is adjust the three-dimensional position of each of the three, and as a result, both the facing distance and facing posture can be set accurately and in a short time without relying on the operator's ribs.This improves teaching efficiency and accuracy. can be significantly improved.

Further, by providing the bright spot S1 for setting the facing distance and the first reference position mark M1, the following effects can be obtained. That is, the teaching point P and the reference position mark M
Since the facing distance is set by aligning the bright spot S1 with the reference position mark M1, the teaching point P is located on a small convex portion as shown in FIG. Even in this case, the facing distance can always be set for the teaching point P on this convex portion. Therefore, the problem of teaching in an incorrect position is prevented, and as a result, accurate teaching can be performed at all times without being affected by the surface condition of the workpiece.

Furthermore, in this embodiment, the semiconductor laser device [31a to 34a
Four light projection optical fiber optical systems 31 to 34 irradiate the surface of the workpiece 9 with light generated from the workpiece 9, and each bright spot and position setting point formed on the workpiece 9 are captured by the imager 35-3.
To make an image! Since the I-image opening optical fiber optical system 35 is provided inside the optical fiber optical system 35 to constitute a teaching head,
The head itself is smaller, and there is less interference with the workpiece compared to laser processing heads, etc., making teaching work easier.

The present invention is not limited to the above-described embodiments, and the same implementation as described above is possible even if a part of the configuration is configured as follows, for example. That is, in order to illuminate the workpiece 9, an illumination optical fiber optical system is provided between the teaching head 3 and the sensor driver 4 in parallel with the imaging optical fiber optical system 35, and the illumination light is reflected 135- 2 to illuminate the workpiece 9.

By providing the optical fiber optical system for illumination in this way, it is possible to brightly display the incision liK on the surface of the workpiece 9, the teaching point P, etc. on the image display 7, and the teaching point P can be displayed brightly on the image display 7.
position can be determined more accurately. If a semiconductor laser beam is used as the illumination light of the illumination optical fiber optical system to illuminate the teaching point, etc., a clear image can be obtained without being affected by disturbance light.

〔Effect of the invention〕

As described above, the present invention provides a first light emitting device that uses a head to project light obliquely onto an object to form a first bright spot for setting the facing distance.
and a second optical fiber optical system that projects light onto an object to form a plurality of second bright spots such that a line connecting the first bright spot forms at least a triangle. and an optical fiber optical system for capturing images of each bright spot formed on the object by these optical systems and a position setting point displayed in advance on the object,
In addition, the first and second
a light source for projection optically coupled to the optical fiber optical system; and a light source optically coupled to the optical fiber optical system for imaging.
In addition to providing a sensor drive device with a built-in sensor driver, an image display device is also provided to display each bright spot imaged by the image pickup device and the position setting point, and the image display device displays the respective bright spots and position setting points when setting the position of the head. a first reference position as an alignment target, in which each bright spot and position setting point are fixedly displayed in advance at a predetermined position on the display screen of the image display device by a first display means and a second display means; By adjusting the facing distance and facing attitude of the head with respect to the object so as to match the mark and the plurality of second reference position marks while visually checking the display screen,
This allows the three-dimensional position of the head to be set.

Therefore, according to this configuration, it is possible to perform teaching accurately in a short period of time without requiring any skill, and as a result, the efficiency and accuracy of teaching work can be significantly improved, and the work can be performed using an optical fiber optical system. Since the head is miniaturized, there is less interference with the workpiece, and a three-dimensional position setting device that can easily perform teaching operations can be provided.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram showing an embodiment of a three-dimensional position setting device according to the present invention, Fig. 2 is a longitudinal cross-sectional view of a teaching head in the same embodiment, and Fig. 3 is taken along line I-I in Fig. 2. 4 is a sectional view taken along the line ■-■ in FIG. 2;
5(a), (b) to FIG. 8(a), (b) are diagrams for explaining the operation of the same embodiment, respectively. 1...Robot's head body, 3...
Teaching head, 4...Sensor driver, 5...Sensor controller, 7...
Image display, 9.9'...Work, 31-34
...... Optical fiber optical system for light projection, 31a to 34a
... Semiconductor laser device, 31b to 34b, 33
b-1, 34b-1...Reflector, 31C~34
c, 33cm134cm1...Holding body, 31d
~34d... Condensing lens, 35...l
Optical fiber optical system for fi image light 5-1...Lens for 11, 35-2...Reflector, 35-3...
...The best brassware. Applicant's agent Patent attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 54 (a) fjS5 Figure (a) Figure 6 Figure 2 ■ Nini==ko'Rs: (b) Figure 3

Claims (4)

[Claims] (1) In a three-dimensional position setting device used to set the three-dimensional position of a head in a predetermined relative positional relationship with respect to a position setting point displayed on a target object, the between a first optical fiber optical system that projects light in a direction to form a first bright spot for setting a facing distance, and the first bright spot that is provided on the head and projects light onto the object; A plurality of second lines such that the line connecting them forms at least a triangle.
a second optical fiber optical system for forming a bright spot; an imaging optical fiber optical system provided in the head for imaging the object, the position setting point, and each of the bright spots; The first and second
a sensor drive unit including a light source for projection optically coupled to the optical fiber optical system for imaging, an image pickup device optically coupled to the optical fiber optical system for imaging, and each luminance imaged by the image pickup device; an image display that displays points and position setting points; and an image display that serves as an alignment target for the position setting points displayed on the image display, and that the three-dimensional position of the head with respect to the position setting points on the object is a predetermined relative position. a first display means for fixedly displaying a first reference position mark at a predetermined position on the display screen of the image display so as to coincide with the first bright spot when the target A second bright spot is placed at a predetermined position on the display screen of the image display so that the three-dimensional position of the head with respect to the position setting point on the object reaches a predetermined relative positional relationship, so as to coincide with each of the plurality of second bright spots. A three-dimensional position setting device comprising: a plurality of second display means for fixedly displaying two reference position marks. (2) The image display device displays the first and second images displayed on the display screen.
The three-dimensional position setting device according to claim 1, further comprising an image processing unit that electrically detects the position of the bright spot. (3) The three-dimensional position setting device according to claim 1, wherein the imaging optical fiber optical system is equipped with an illuminator that illuminates the surface of the object with arbitrary brightness. (4) The scope of the claim that the first and second optical fiber optical systems and the imaging optical fiber optical system are equipped with a reflecting mirror that changes the direction of light within the head and a lens system that focuses the light. The three-dimensional position setting device according to item 1.