JPS63100516A - Device for positioning automatic machine - Google Patents

Abstract

PURPOSE:To considerably shorten the positioning time by extracting and detecting a target position at certain intervals based on a shape automatically detected by a position detector to automatically determine the target position without operator's operation for determination of the target position. CONSTITUTION:A position detector 1 causes a scanning means 22 to scan the beam, which is emitted from a light projector 12 of a light projecting/receiving means 21, from a start point P1 of a shape 11 of the detection object which is converted to an end effector coordinate system by a position converter 2, and the position of the shape of the detection object is analyzed and detected in an analyzing means 23 by the beam made incident on a light receiver 13. Each detected position of the shape has coordinates converted to the absolute coordinate system of a robot by a position converter 2 and is outputted to a position controller 3. Simultaneously, a following-up means 24 of the position detector 1 outputs a following-up signal to an output converter 7 through the position controller 3 so that an end effector 9 of a robot 8 is moved in accordance with respective detected positions of the shape, thus successively detecting the shape of the detection object.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a positioning device for automatic machines such as robots and automatic machine tools, and particularly to automatic positioning of designated shapes.

[Conventional technology]

FIG. 6 shows a block diagram of a positioning device used, for example, in a conventional robot. In the figure, 8 is a robot, and the robot 8 is a robot arm 1 as shown in FIG.
4 is provided with an end effector 9 such as a welding torch.

Reference numeral 10 denotes an operating device that operates the end effector 9 of the robot seat 8 to match the target position; 3 indicates a target position that is to be stored in accordance with instructions from the operating device 10 to the robot 8; A position management device 6 outputs the information to the position memory 5 when reproducing the target position.
An interpolation calculator 7 interpolates between the target positions stored in the robot 8, and 7 outputs an operation signal output from the position management unit 3 and a position signal output from the interpolation calculator 6 to an actuator (not shown) that drives the robot 8. It is an output converter that converts into

The operation of the positioning device configured as described above will be explained based on the operation diagram shown in FIG.

First, the robot 8 is
The operation instruction is sent to the output converter 7, and as shown in FIG.
, to the target position P2, and then move the target position to the point Pz
,......Point P,.

......Change points P, -+, points P and l and move them in order.

Meanwhile, during this operation, each target position is sent to the position memory 5 via the position management device 3, and the starting point P1 in the shape 11 and each target position P8.・・・・・・・・・P
4. . . . P7 is stored and positioning of shape 11 is performed.

When reproducing the motion of the robot 8, each target position stored in the position memory 5 is outputted to the interpolation calculator 6 according to an operation command sent from the operation device 10 to the position memory 5 via the position management device 3. The shape 11 is reproduced while interpolating between each target position.

(Problems to be Solved by the Invention) In the conventional robot positioning described above, if the shape 11 to be positioned is formed by a curve, it is necessary for the operator to replace the curve with many target positions. However, there is a problem in that the number of times the end effector 9 is moved to the target position increases, and the positioning work of the shape 11 becomes complicated and takes a long time.

Furthermore, in order to confirm the positioning accuracy after positioning, the motion of the robot 8 must be reproduced, and if there is an error, the target position must be corrected.

The present invention was made to solve these problems, and it is an object of the present invention to provide an automatic mechanical positioning device that can automatically detect a target shape and determine the target position with high accuracy. .

[Means for solving problems]

The automatic machine positioning device according to the present invention automatically detects a target shape with a position detector attached to a drifting part of the automatic machine, determines the operation target shape of the automatic machine from the detected target shape, and determines the operation target shape from the detected target shape. The target position is determined by extracting and storing shapes at regular intervals.

[Effect]

In this invention, since the target position is extracted at regular intervals based on the shape automatically detected by the position detector, the target position can be automatically determined without the operator's operation to determine the target position.

〔Example〕

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and in the figure, numerals 3.5 to 8 indicate the same or equivalent parts as in the conventional example shown in FIG. 6 above.

1 is a position detector attached to the end effector 9 of the robot 8, as shown in FIG.

FIG. 3 is a block diagram showing the configuration of the position detector 1,
The position detector 1 includes a light emitting/receiving means 21, a scanning means 22, an analyzing means 23, and a following means 24, and detects a designated target shape in an end effector coordinate system. 2 is position detector 1
A position converter that converts the target shape in the end effector coordinate system detected by the robot 8 into the absolute coordinate system of the robot 8,
The position converter 2 and the position management device 3 form a position management means. Reference numeral 4 denotes target position extracting means for extracting the target shape output from the position management device 3 at predetermined regular intervals and sending it to the position memory 5 as a target position.

The operation of the positioning device configured as described above will be explained based on the operation explanatory diagram of FIG. 4 and the flowchart of FIG. 5.

First, the controller 10 instructs the position detector 1 to detect the shape of the detection target via the position manager 3 and the position converter 2 (
Step 30). The position detector 1 causes the scanning means 22 to scan the beam emitted from the light emitter 12 of the light emitting/receiving means 21 from the starting point P1 of the shape 11 of the object to be detected, which has been converted into the end effector coordinate system by the position converter 2, and sends the beam to the light receiver 13. The analysis means 23 analyzes and detects the position of the shape to be detected by the incident beam (step 31), and each position of the detected shape is converted into the robot's absolute coordinate system by the position converter 2 and transferred to the position manager 3. At the same time, the tracking means 24 of the position detector 1 outputs an output to the output converter 7 via the position manager 3 so that the end effector 9 of the robot 8 follows each position of the detected shape. A follow-up signal is outputted (step 33), and the shape of the object to be detected is sequentially detected (step 34).

On the other hand, the detected shapes sequentially sent to the position management device 3 are extracted at predetermined intervals by the target position extraction means 4 (step 35), and the target position PL-1°P t , P t
-+ coordinates are sequentially recorded tα in the position memory 5 (step 36).

The above operations are sequentially performed up to the end point P of the shape 11 to be detected to detect the end point P4 (step 34), and each target position of the detected shape is stored in the position memory 5, thereby completing the positioning (step 37).

When the robot 8 performs a reproducing operation after the above positioning is completed, each of the 22 target positions and P, stored in the position memory 5. Interpolate between each point using the interpolation calculator 6. Step 3
8) This signal is output to the output converter 7 to operate the robot 8 along the predetermined shape 11 from the starting point P to the ending point P7 (step 39).

In the above embodiment, the positioning of the robot 8 has been explained, but even in a machine that operates according to a predetermined pattern, such as an automatic machine tool, the positioning operation can be performed in the same manner as in the above embodiment. can.

〔Effect of the invention〕

As explained above, this invention extracts and detects the target position at regular intervals based on the shape automatically detected by the position detector, so the target position is automatically determined without the operator's operation to determine the target position. This has the effect of significantly shortening the positioning time.

Furthermore, since the target position can be determined by following the positioning shape, the positioning accuracy can be improved.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, FIG. 2 is a perspective view showing the robot of the above embodiment, FIG. 3 is a block diagram showing the structure of the position detector of the above embodiment, and FIG. 5 is a flowchart showing the operation of the above embodiment, FIG. 6 is a block diagram showing the configuration of the conventional example, FIG. 7 is a perspective view showing the robot of the conventional example, and FIG. FIG. 8 is an explanatory diagram of the operation of the conventional example. In the figure, 1 is a position detector, 2 is a position converter, 3 is a position manager, 4 is a target position extraction means, 5 is a position memory, and 6
is a complementary computing unit, 8 is a robot, and 9 is an end effector. Note that the same reference numerals in each figure indicate the same or corresponding parts. Agent Patent Attorney Muneharu Sasaki Figure 1 Figure 3 Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] (1) A position detector that is attached to the operating section of an automatic machine and scans a specified shape to detect the shape, and the shape of the operating section coordinate system detected by the position detector is converted into the absolute coordinates of the automatic machine. a position management means for converting the target shape into a system to determine the operation target shape of the automatic machine; a target position extraction means for extracting the target position by extracting the target shape determined by the position management means at predetermined regular intervals; A positioning device for an automatic machine, comprising a position memory that stores a target position extracted by a target position extracting means.