JPS6311290A - Three-dimensional position setter - 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] [Object of the Invention] (Industrial Application Field) The present invention sets the three-dimensional position of a head in a predetermined relative positional relationship with respect to a position setting point displayed on an object. The present invention relates to a three-dimensional position setting device used in the event.

(Prior art) For example, in an industrial robot used in a product assembly process, a material cutting process, a processing process, etc. on a manufacturing line, the movement path of the work head and the operation procedure with respect to the robot are determined during the actual operation. It is necessary to teach the three-dimensional shape of the workpiece. This operation of teaching the three-dimensional movement of the work head is called teaching, and this teaching has conventionally been generally performed manually by an operator. For example, when teaching a CO2 laser cutting robot, the worker must first
A marking line is drawn on the surface of the workpiece to indicate the machining route from the drawing, and then, while operating the teaching pendant, the operator approaches the teaching point of the marking line drawn on the surface of the workpiece as a pair of nine objects, and then 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.

(Problems to be solved by the invention) In such conventional teaching work, the worker first has to draw marking lines on the surface of the workpiece, which takes a long time, and also because the workpiece is not three-dimensional. Due to its shape, it has the disadvantage that it is difficult to draw accurate lines.

Furthermore, in conventional teaching work, the operator directly visually observes the three-dimensional position of the machining head relative to the teaching point, which requires time and effort.
Moreover, there is a problem in that a considerable amount of training is required to accurately set the position. Furthermore, if the workpiece is large, it may be difficult to teach because the shape of the workpiece is difficult to locally identify.

The present invention has been made in view of the above-mentioned circumstances, and allows the operator to directly mark the reference point of the machining path on a three-dimensional workpiece without drawing a scribing line, thereby allowing the operator to easily locate the marking position. Based on this, only the manual work of checking the machining path is required, and by making it possible to perform teaching by measuring and recording the marking point at the same time as marking, the efficiency and accuracy of teaching work can be greatly improved. The purpose of the present invention is to provide a three-dimensional position setting device that can perform three-dimensional positioning.

[Structure of the Invention] (Means for Solving the Problem) In order to achieve the above object, the present invention uses a head to project light onto an object from an oblique direction to form a first bright spot for setting the facing distance. and a second light projector that projects light onto the object to form a plurality of second bright spots that form at least a triangle together with the first bright spot, and these projectors An imager is provided that visualizes each bright spot formed on the object and a position setting point displayed in advance on the object. When the position setting point is displayed on the display and becomes the alignment target on the display screen of this image display, and the three-dimensional position of the head with respect to the position setting point on the object has a predetermined relative positional relationship. a plurality of first reference position marks positioned to coincide with the first bright spot are fixedly displayed, and the three-dimensional position of the head with respect to the position setting point on the object is in a predetermined relative positional relationship. , a plurality of second reference position marks positioned to coincide with the plurality of second bright spots are fixedly displayed, and when the head position is set, the plurality of second reference position marks are fixedly displayed. The three-dimensional position of the head can be set by adjusting the facing distance and facing attitude of the head with respect to the object so that each bright spot coincides with each reference position mark, respectively, and the image is captured by the image pickup device. The 81-side principle is expressed mathematically from the image signal, and the three-dimensional position of the head with respect to the position setting point on the object is determined from each electrically detected bright spot position using a needle valve, and the result is displayed on the image display. In addition, the image display device is provided with a figure providing means for superimposing the figure on the image of the surface of the object formed by the nine-zoom device, and the head is provided with a figure providing means for providing the figure superimposed on the image of the surface of the object formed by the nine-zoom device. A marking unit 4-4 is built in to mark a mark serving as a reference point for a machining path on the surface of the object, and a mark is placed on the surface of the object to mark the machining path while referring to a figure provided by the figure providing means. At the same time, the reference point can be automatically measured and recorded to enable teaching.

(Function) Therefore, in the three-dimensional position setting device having such a configuration, it is possible to view the data of the facing distance and facing attitude of the object displayed on the image display, and to check the data of the facing distance and facing attitude of the object displayed on the image display. By observing the deviation between the reference position mark and the bright spot, it is possible to correct the position so that the head takes the correct opposing distance and facing attitude on the teaching point of the object, and also allows the marking n structure to be set at the same time when teaching the object. By using it, you can teach while directly marking the machining path, and even if the object is too large to fit into the odozo device, you can move it by teaching the machining path while moving the kusaki little by little. In order to clarify the positional relationship between the front and back adjacent screens, appropriate reference points are marked on the object, and the pair! A30 without losing sight of the relative positional relationship between moving screens and without drawing overlapping lines in advance, regardless of the size of the object! Continuous three-dimensional position teaching work is possible.

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

FIG. 2 shows an example of the configuration of a head portion of a cutting robot equipped with a three-dimensional position setting device according to the present invention. In FIG. . The head body 1 is rotatably connected to the robot arm 4 via a rotation mechanism 6, and by rotating the head body 1, the teaching head 3 can be used as a workpiece 9 during teaching. The laser processing head 2 can be opposed to the surface of the workpiece 9 during cutting.

FIG. 1 shows an example of the configuration of a three-dimensional position setting device according to this embodiment.

That is, as shown in FIG. 1, the three-dimensional position setting device includes a teaching head 3, and an image display 7 that displays an image formed by an original imager provided in the teaching head 3, the details of which will be described later. , a reference position pattern generation circuit 8 that causes the image display 7 to display a reference position pattern.
The image signal of the bright spot is separated from the image signal of the bright spot that sets the facing distance and facing attitude of the teaching head 3 with respect to the workpiece 9 and the image signal of the background light such as illumination @1B. An image processing circuit 8a that measures the position by
and a marker laser oscillator 1 that marks a mark on the workpiece 9.
0, a CAD system 11 for providing graphic data at arbitrary positions, angles, and magnifications, and a joystick 12 for instructing the CAD system to move, rotate, etc. the graphic data.

In this case, the graphic data provided from the CAD system 11 is the image gA! l! The image is mixed with the layer image screen of the teaching head 3 by the L logic circuit 8a and displayed on the image display 7.

The teaching head 3 has 4fi inside the head housing 30.
! ], the projector 31 to 34, the button 35, and the marker body 36 for marking the surface of the workpiece 9 are housed, and its configuration is shown in FIGS. 3 and 4. That is, each of the projectors 31 to 34 is composed of a semiconductor laser device 31a to 34a and a reflection device V131b to 34b, respectively, and the semiconductor laser devices 31a to 34a are arranged and fixed on the inner wall surface of the head housing 30 at equal intervals. Further, the reflecting mirrors 31b to 34b are fixed to the tip of the head housing 30 by holders 31c to 34c so that the laser beams from the semiconductor laser devices 31a to 34a can be reflected onto the workpiece 9. These projectors 31 to 34 reflect 131 the laser beams generated from the semiconductor laser devices 31a to 34a.
11 to 34b and project the light onto the surface of the workpiece 9, thereby forming a bright spot on the surface of the workpiece 9. The projector 31 is used as a bright spot for distance setting as shown in FIG. S1 and the other projectors 32 to 34 form bright spots S2 to S4 for attitude setting, respectively. On the other hand, the illumination device 35 is composed of a solid-state decoy image device camera using a solid-state imaging cable 35a, and is fixed to the center of the head housing 30 by a camera holder 35b. This imager 35 images the bright spots S1 to S4 formed by the projectors 31 to 34 on the surface of the workpiece 9 and the teaching point P above the sharp line displayed in advance on the surface of the workpiece 9. be.

Further, a laser marker body 36 for marking the surface of the workpiece 9 is fixed inside the head housing 30, and configured to focus a marking laser beam 36e transmitted from the marker laser oscillator 10 on the workpiece 9. It is an optical lens. Therefore, the marker laser beam oscillator 1
The marking laser beam 360 introduced into the head unit from 0 through the transmission line 3Ga is reflected by the mirror 36b in the direction of the laser marker body 36, and after passing through the laser marker body 36, it gradually converges as it travels along its traveling path. The light is reflected by a mirror 36c held by a holder 36d provided on the surface of the workpiece 9 at a predetermined distance so as to be focused on the surface of the workpiece 9. Further, when the teaching head 3 and the workpiece 9 are at a standard facing distance and in a standard facing position, a mark is formed on the processing position PO as shown in FIG.

Furthermore, the reference position pattern generation mark 8 is a first reference position mark M1 used to set the facing distance of the head with respect to the workpiece 9, and 31[! 1, respectively, and each of these reference position marks M1 to M4 is placed at a predetermined position on the display screen of the image display 7 as shown in FIG. Dancing statue in position 35
The captured image @signal is folded and displayed.

The display circuit 8a detects the positions of the bright spots 81 to S4 on the image display 7 based on the t9 signal from the R imager 35, and calculates the facing distance and facing posture of the workpiece 9 from the bright spot data. Then, the calculation results are sent to the image display 7 or the robot.

Next, the operation of the three-dimensional position setting device configured as described above will be explained.

Now, in FIG. 1, it is assumed that the teaching head 3 is fixed at the illustrated position, and the position and attitude of the workpiece 9 facing the teaching head 3 can be adjusted. In such a state, the semiconductor laser device 318~
When a laser beam is emitted from 34a, this laser beam is reflected by each of the reflecting mirrors 31b to 34b, and is irradiated onto the workpiece 9 as an oblique beam. Therefore, the state in which the facing distance of the work 9 is a predetermined value and the S-1 direction is in the correct posture is defined as the work 9' shown by the rectangular line in Fig. 5 (a),
Also, if the teaching point is po, bright spots S1 to S4 are formed on the workpiece 9 located at the solid line position in the figure at the intersection of the diagonal beam and the workpiece 9, so changes in the facing distance or facing posture of the workpiece 9 will be This appears as a deviation of the bright spots S1 to S4 on the image display 7. For example, if the workpiece 9 is farther away from the workpiece 9- at the reference position, each bright spot is outside the reference marks M1 to M14 as shown in FIG. 5(b), and the workpiece 9 is at the reference position. If the image display device 7 is tilted in the vertical direction from 9' in the facing position, the image shown in FIGS. 6(a) and (
As shown in b), the bright spot S2 is located inside the reference mark M2. Furthermore, when the workpiece 9 is tilted in the left-right direction of the image display 7 in the facing attitude from the workpiece 9- in the reference position, FIG. 7(a) shows.

As shown in (b), bright spots S3 and S4 are reference marks M3,
It is biased in one direction with respect to M4. In other words, since a bright spot occurs at the intersection of the oblique beam and the workpiece 9, when the deviation of the bright spot on the image display 7 is measured, it is determined by the law of similarity of triangles. By calculation, each bright spot S
Coordinates of 1 to $4 in three-dimensional space can be found.

Further, the facing distance of the work 9 can be calculated from the three-dimensional position of the bright spot S1, and the facing attitude of the work 9 can be calculated from the bright spots S1 to S4.

The horizontal and vertical position data of the bright spots S1 to S4 collected here are obtained by substituting the facing distance and facing posture of the workpiece 9 based on the above-mentioned triangle similarity law into a predetermined formula. Then, the image is displayed on the image display 7 through an appropriate signal line.

Therefore, the operator can teach the robot the workpiece 9 by looking at data on the facing distance and facing attitude of the workpiece 9 displayed on the image display 7, and by looking at the deviations between the reference marks M1 to M4 and the bright spots S1 to S4. The position can be corrected to take the correct facing distance and facing attitude on point PO.

In the above, we have described the case where the operator corrects the position while looking at the image displayed on the image display 7, but the facing distance and facing posture of the workpiece 9 detected by the image processing circuit 8a and calculated based on logic are Data can be sent to the robot controller to have the robot automatically correct the facing distance and facing attitude.

In this embodiment, the operator reads the facing distance and facing posture data of the workpiece 9 while looking at the displayed image on the image display 7, and reads each bright spot S1 to S4 and the teaching point P.
Since the three-dimensional position of the head body 3 is adjusted so that O coincides with the reference marks M1 to M4, T can be made accurately and in a short time without relying on human intuition, unlike conventional methods. It becomes possible to teach, and both efficiency and accuracy can be greatly improved.

Furthermore, the teaching efficiency can be greatly improved by transmitting the same distance and opposing posture data of the workpiece 9 from the image processing circuit 8a to the robot controller to automatically adjust the three-dimensional position of the head body 3. can be done.

Next, the operation when marking the surface of the working 9 will be explained.

For example, if the warp 9 is large, it would be good to make the image smaller so that the entire image can be seen on the image display 7, but this will cause the image to become smaller and the dieting viscosity will deteriorate.

Therefore, in such a case, it is sufficient to bring the teaching sensor head 3 closer to the workpiece 9 and take an image. Now, when the head 3 is brought close to the workpiece 9 and the surface of the workpiece is imaged with silver,
As shown in FIG. 9, the shape features of the workpiece decrease, and when the dancing image device 35 is brought closer to the standard facing distance with the workpiece 9, the shape becomes almost featureless, as shown in FIGS. 10 and 11. . Therefore, first, the CAD system 11 is placed on the workpiece 9 in a state where the entire workpiece 9 is photographed as shown in Fig. 8.
Then, using the joystick 12 to instruct the movement of the figures, superimpose the figures at appropriate positions and set rough reference points, such as points P 1 and P .

P , P , P , and P are marked manually by an operator or by temporarily bringing the teaching head 3 close to the work 9 and marking them. Then the first reference point, e.g. point P , P
. In FIG. 9, in the same way as in FIG. 8 above, reference marks, such as points)), P
,P.

Mark P"205. Furthermore, bring the teaching head 3 closer to the reference facing distance while performing the three-dimensional measurement, and then
The work 9 is imaged as shown in Figure 0.

Therefore, as in the case of FIG.
o1, and at the same time mark sections P and P.
is interpolated based on CAD graphic data and taught. Next, as shown in FIG. 11, the teaching head 3 is moved a little in the direction of progress of the machining path, and the next reference point P is marked in the same manner as in FIG.
Teaching P3o2.

By repeating the above operations, marking and teaching of the machining path of the large three-dimensional workpiece 9 can be performed simultaneously.

Note that the roughly marked points in the above teaching work are deleted because there is an error with the Q-end machining path. Further, after the machining path has been determined, if marking is performed while moving the machining group continuously along the machining path for TIIL2, there is also the effect of automatically drawing the marking gland.

According to this embodiment, when teaching a three-dimensional shape workpiece, it is possible to teach while directly marking the machining route without having to mark the machining route in advance, so the teaching time can be shortened. I can do it,
Conventional handwriting: The wobbling scribing line itself had a considerable error, but as in this embodiment, the marking machine groove allows the marking machine to teach along the machining path of the head without drawing the scribing line. Since accurate teaching can be performed while marking points, the accuracy can be greatly improved. Furthermore, as a ripple effect, in the case of a work that only has a three-dimensional shape to be marked, the present embodiment has the effect that marking of an arbitrary shape can be performed.

In the above embodiment, the laser marker 36 is used to mark the mark, but instead of this, a method of marking the mark by ejecting ink may be used.

Furthermore, in this embodiment, marking is performed while referring to the graphic data provided by the CAD system 11, but it is not necessary to use the CAD system, and for example, the shape of a specific workpiece can be approximated with a two-dimensional plane. In some cases, other methods may be used, such as copying the production drawing of the workpiece with a TV camera and referring to it.

[Effects of the Invention] As described above, according to the present invention, the head emits light onto the object from an oblique direction to form a first bright spot for setting the facing distance; a plurality of second +1 light beams that are projected to form at least a triangle together with the first bright spot;
A second floodlight forming one point is provided, and these floodlights allow the g! An imager is provided for capturing images of each bright spot formed on the animal and a position setting point displayed in advance on the object, and each of the bright spots and position setting point imaged by the image pickup device is displayed on an image display. , and the position t! of the position setting point on this picture 1 or the display screen of the display device. 1] A plurality of first references serving as marks and positioned so as to coincide with the first bright spot when the three-dimensional position of the head with respect to the position setting point on the object reaches a predetermined relative positional relationship. a plurality of fixedly displaying position marks positioned such that the three-dimensional position of the head with respect to the position setting point on the object coincides with the plurality of second bright spots when a predetermined relative positional relationship is reached; fixedly display the second reference position mark, and while setting the position of the head, while visually checking the image display section, set the facing distance of the head with respect to the object so that each bright spot coincides with each of the reference position marks, respectively. Since the opposing postures are adjusted individually, it is possible to significantly improve the efficiency and accuracy of teaching work, and it is also possible to measure the opposing distance of the workpiece and the opposing posture with respect to the workpiece. The figure provided by the figure providing means is displayed superimposed on the image of the image display device, and the marking f built into the head is displayed.
By using luff in combination, when teaching the machining path of a three-dimensional workpiece, it is possible to teach while referring to the shape and directly marking the machining path, which can significantly shorten the teaching time. It is possible to mark the route accurately on the workpiece, and even when the workpiece is too large to fit on the imaging screen at once, by sequentially moving the teaching head while referring to this mark, the teaching point can be taught accurately. Can be done.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the configuration of an embodiment of a three-dimensional position setting device according to the present invention, FIG. Fig. 4 shows the structure of each teaching head of the same embodiment, Fig. 3 is a sectional view taken along the line ■-■ in Fig. 1, and Fig. 4 is a sectional view taken along the line I-I in Fig. 3. A cross-sectional view along the arrow,
Figures 5 (a), (b), Figures 6 (a), (b), and Figures 7 (a), 4b) are for use in explaining the operation, and each figure (a> is the head and A schematic diagram showing the positional relationship with the workpiece, (1)) is a schematic diagram showing the display image of the image display, and Figures 8, 9, 10, and 11 are the method of marking the machining path of the workpiece. FIG. 3 is a display image diagram showing a state in which workpiece surfaces taken from different facing distances are displayed on an image display for explaining the above. DESCRIPTION OF SYMBOLS 1... Head body, 2... Processing head, 3... Teaching head, 4... Robot body, 6... Rotating gate structure, 7... Image display, 8... Reference position Pattern generation circuit, 8a... Image processing circuit, 9', 9...
Workpiece, 10... Marker laser oscillator, 11...
CAD system, 12... Joystick, 30.
...Head housing, 31-34...Floodlight, 31a-3
4a...Semiconductor laser device, 31b-34b...Anti-q1 Yue, 35...Odorihoki, 35a...Solid dance image system, 35b...Camera holder, 36...Laser marker body , 36a... transmission line, 36b... mirror, 36
C... Mirror, 36 (1... Holder, 30e...
Laser beam, Sl... Counter pressure @ rating for setting, S2
~S4... Rating for setting 9A of facing figure, Ml... 1st
reference position mark, M2 to M4...second reference position mark, K...marking line, Plpo...teaching point, Pl
oo...Teaching starting point mark, P,
P, P, P. P1o5...Roughest teaching point mark, P2o1
゜P, P, P, P...
・Intermediate rough teaching point marks, P2O3, P2O
3. P, P゛, P3o5... Marks of final teaching points. Applicant's Representative Patent Attorney Takehiko Suzue Figure 1 and Figure 2 Figure 4 (a) (b) Figure 5 (a) (b) Figure 7 Figure 9 Figure 10 Figure 11

Claims (1)

[Claims] In a three-dimensional position setting device that sets 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 head is provided with an oblique light projected onto the target object to determine the facing distance. A first point forming a first bright spot for setting.
and a light emitter that emits light obliquely onto the object.
a second light projector forming a plurality of second bright spots constituting at least a triangle together with the bright spots; an imager that images each of the displayed position set points; an image display that displays each bright spot and position set point imaged by the imager; means for providing a figure superimposed on an image of a surface of an object; and means for providing an alignment target of the position set point displayed on the image display, and a three-dimensional position of the head with respect to the position set point on the object. a first reference position mark that is fixedly displayed at a predetermined position on the display screen of the image display device so as to coincide with the first bright spot when the relative positional relationship of fixedly displayed at a predetermined position on the display screen of the image display so as to coincide with the plurality of second bright spots when the three-dimensional position of the head with respect to the position setting point reaches a predetermined relative positional relationship. a plurality of second reference position marks, and the first reference position mark and second reference position mark built into the head and displayed on the display screen of the image display device, the head and the object are connected to each other. Once it is confirmed that the relative positional relationship is the standard facing distance and standard facing posture, a machining path is formed on the surface of the object while referring to the graphic provided to the image display by the graphic providing means. A marking mechanism that marks a mark as a reference point is provided, and the reference point is automatically measured and recorded at the same time as the mark is placed on the machining path on the surface of the object to enable teaching. Three-dimensional positioning device.