JPS63318275A - Operation coordinate correction system of robot - 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] [Summary] The present invention relates to a correction method for correcting the motion coordinates of an articulated robot that collides with an arm that is oriented in a direction different from that at the time of setting due to an erroneous operation. The purpose of this method is to provide a motion coordinate correction method that makes it possible to reset the motion coordinates of an arm whose direction is different from that at the time of manufacture due to a collision. In the robot operating coordinate correction method that measures and controls the coordinate correction amount, a socket provided on or near the robot body is used as the standard coordinate detection location,
In order to attach the hand at the end of the arm of the robot, the amount of movement of each axis from the mechanical origin when the insertion section provided in the arm is inserted into the socket is further stored in the control storage device of the robot.
Next, when installing the tip hand of the robot, when inserting the insertion part into the socket, recheck the misalignment of each axis of the robot.
The difference between the values is corrected again to the correction amount read from the control storage device 17.

[Industrial Field of Application] The present invention relates to a correction method for correcting the motion coordinates of an arm that is oriented in a direction different from that at the time of setting when an articulated robot collides with the robot due to an erroneous operation or the like.

Conventionally, articulated robots were assembled, adjusted, and coordinate corrected at the manufacturing factory before being shipped, so rechecking at the site of use had to start from the same state as when the original adjustment was made. However, since it is not always possible to reproduce the same conditions in the field, there was a need to develop a technology to recheck with a simple configuration.

[Prior Art] After an articulated robot is assembled in a manufacturing factory, when starting adjustment, the hand at the end of the arm is set at a predetermined position. In the schematic diagram shown in Figure 6, robot l is at the origin O.
From there, the distal end hand is set to the position indicated by A via the joints C1 to C6, and assumes the initial working posture. The arm is 3~
Consists of 8. Joints C1, C4, and C6 are joints that rotate in a horizontal plane parallel to the XY axis, and joints C2, C3, and C
5 is a joint that rotates within a vertical plane. Position A is the mechanical origin of the robot 1, and position B of the hand when all arms of the robot are extended in the Z-axis (vertical axis) direction can be said to be the software origin. That is, the position of the hand A of the robot 1 is instructed in the XYZ coordinate system with the position of the software origin B as a reference, and the work is performed. However, since the mechanical origin A and software origin B are in different positions, move the robot from origin A to B, find the rotation angle of each joint during movement, and use that angle as the correction amount in the robot arm movement command. There is a need to. At this time, when determining whether the robot was able to move from origin A to origin B, conventionally, when each arm was standing vertically as shown in Figure 6, each joint Either by reading the encoder scale, or by using the jig 9 shown in FIG. 7, measurements were taken at the position shown in FIG. 8. That is, a plurality of contacts 10 for the jig 9
13 are provided, and each contact is provided in two pieces at the same height position in the horizontal direction. Initially, the jig 9 is placed adjacent to the robot 1 as shown in FIG. 8, and the robot 1 is brought into contact with the base 2 at the lowest position.
3 to make it stand upright. At this time, the robot makes contact with two contacts at the same height. contact 11
Due to the contact with the contactor 12, the joints C1 and C2 become at an angle corresponding to the software origin posture, and similarly, due to the contact with the contactor 12, the joints C3 and C4 become the angle corresponding to the position of the software origin.
5 and C6 are angles corresponding to the posture of the software origin, respectively.0 As the robot moves from the machine shop point A to the software origin B, the rotation angle of each joint is read by an encoder provided in each joint. The rotation angle of each joint detected by this encoder becomes a coordinate correction value when driving this robot.

The above coordinate correction values are stored in the storage device of the robot control device 17 and shipped from the manufacturing factory. Operation begins after the robot's mechanical origin is found at the site of use. The control device performs control while correcting the coordinate values by reading the values stored in the storage device in response to the command coordinate values issued at that time.

[Problems to be solved by the invention] An articulated robot must start its operation from its mechanical origin at the site of use, but when it starts working and raw materials and parts are placed nearby, the robot sometimes The robot arm may collide with other objects due to incorrect operation. At that time, a mechanical defect occurs in one or both of the arm and the joint, so even if the operation command and the correction are accurate, the tip hand of the robot arm starts working at a different position.

SUMMARY OF THE INVENTION An object of the present invention is to improve the above-mentioned drawbacks, and to provide a motion coordinate correction method that makes it possible to reset the motion coordinates of a robot arm whose direction is different from that at the time of manufacture due to a collision caused by an erroneous operation. .

[Means for Solving the Problems] FIG. 1 is a diagram showing the basic configuration of the present invention. In FIG. 1, 1 is an articulated robot, 14 is a socket, 15 is a part where the hand at the end of the robot's arm is attached, 16 is an insertion part, and 17
indicates a control storage device, and 01 to C6 indicate joints.

The present invention has the following configuration in a robot motion coordinate correction method that measures the deviation of each axis from the mechanical origin A of the articulated robot 1 with respect to the xyz coordinates, obtains a coordinate correction amount, and performs control. That is, the socket 14 provided on or near the robot body is used as the standard coordinate detection location, and the end hand of the robot arm is attached to the insertion portion 16 provided on the portion 15.
The amount of movement of each axis from the mechanical origin when inserted into the socket 14 is further stored in the control storage device 17 of the robot.
When the insertion portion 16 is inserted into the socket 14, the deviation of each axis of the robot is checked again, and the difference between the values is used to correct the correction amount read out from the control storage device 17 again.

[Operation] The hand at the end of the arm of the multi-joint robot 1 is located at the mechanical origin A in the manufacturing factory, and then each joint 01 to C6 is rotated by a predetermined amount, each arm is made to stand upright, and the hand at the end of the arm is placed at the software origin. Take it to B. At this time, the rotation angle of each joint is read by an encoder (not shown) and stored in the control storage device 17. Next, each joint is rotated and the insertion portion 16 is inserted into the receiving port 14 as shown in FIG. The position of the socket 14 becomes a standard coordinate detection location. At this time, each joint rotated again, so the angle was stored in the storage device 17.
and shipped to the place of use.

At the place where the robot is used, each arm is moved from the mechanical origin A to the state where the insertion part 16 is inserted into the socket 14 shown in FIG. 1. At this time, information stored in the storage device 17 regarding the rotation angle of each joint is read out and compared. For joints with different angles, the values are updated and stored in the storage device 17, and the correction values from the mechanical origin A to the software origin B are also revised and updated and stored in the storage device 17. Then, when moving the hand to another position,
The control device reads the corrected correction values, corrects and executes the coordinate values.

[Embodiment] FIG. 2 is a perspective view of the entire robot having a socket 14 in its main body as an embodiment of the present invention, and FIG. 3 is a perspective view of the socket, with reference numeral 18 indicating a hole and numeral 19 indicating a block. FIG. 4 shows a side view of the insertion portion 16, and 20 is a pin. The robot shown in FIG. 2 is moved as shown in FIG. 1 by operating a teaching box or the like, and the pin of the insertion portion 16 is fitted into the hole 18 of the socket 14 to read the rotation angle. If the rotation angles of each joint from the origins A and B are read at the manufacturing factory and stored in a storage device, there is no need to stand the robot upright in a state where the software origin is determined at the place of use.

FIG. 5 shows a case where the socket 14 is provided near the robot body. The operation is the same as in FIGS. 1 to 4.

[Effects of the Invention] In this way, according to the present invention, the standard coordinate detection location for reading the coordinate correction amount can be set in an appropriate state of the robot. Reading and storing can be done easily and in a short time. In addition, in the case of a collision between the arm and another object due to an incorrect operation, etc. at the site of use, it is possible to obtain the coordinate correction amount while controlling the robot's posture to the standard coordinate detection location.
In the next robot operation, it is only necessary to re-correct the coordinates of the command data, so even if an accident occurs, the robot can be repaired in a short time.

[Brief explanation of the drawing]

Figure 1 is a diagram showing the principle configuration of the present invention. Figure 2 is a perspective view of the entire robot with a socket provided in the robot body as an embodiment of the invention. Figures 3 and 4 show the socket and insertion part. Figure 5 is a diagram showing a case where a receptacle is provided near the robot in addition to Figure 2, Figure 6 is a diagram explaining mechanical origin A and software origin B, and Figure 7 is a diagram for explaining the coordinate correction amount measurement method. FIG. 8, which is a diagram showing an example of the tool, is a diagram explaining the usage state of FIG. 7. ■・-Multi-joint robot 2- Robot head 3 to 8-・-Arm 14--・Socket 15-・Robot arm end hand attachment is part 16-・
Insertion part (for calibration) 17- Control storage device Patent applicant Fujitsu Ltd. Agent Patent attorney Eisuke Suzuki Receiver X part Figure 3 Figure 4 Embodiment Figure 5

Claims (1)

[Claims] In a robot motion coordinate correction method that measures the deviation of each axis from the mechanical origin A of an articulated robot (1) with respect to XYZ coordinates and obtains a coordinate correction amount for control, the robot body or A socket (14
) is the standard coordinate detection location, and the amount of movement of each axis from the mechanical origin when the insertion part (16) provided on the hand attachment part (15) at the end of the robot's arm is inserted into the socket (14) is determined by the robot. When the insertion part (16) of the distal end hand attachment part (15) of the robot 1 is inserted into the opening (14), the misalignment of each axis of the robot can be read again. A robot motion coordinate correction method characterized in that the difference between the values is checked and the correction amount read out from the control storage device (17) is corrected again.