WO2006112069A1 - 産業用ロボットの原点調整方法 - Google Patents
産業用ロボットの原点調整方法 Download PDFInfo
- Publication number
- WO2006112069A1 WO2006112069A1 PCT/JP2005/019481 JP2005019481W WO2006112069A1 WO 2006112069 A1 WO2006112069 A1 WO 2006112069A1 JP 2005019481 W JP2005019481 W JP 2005019481W WO 2006112069 A1 WO2006112069 A1 WO 2006112069A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- contact
- positioning member
- contact point
- arm
- joint
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20576—Elements
- Y10T74/20582—Levers
- Y10T74/2063—Stops
Definitions
- the present invention relates to a method for adjusting the origin of a joint axis of a robot such as an industrial robot.
- FIG. 6 shows a conventional origin adjusting device disclosed in Japanese Patent Laid-Open No. 2-180580.
- the member 611 rotates with respect to the member 612 about the rotation shaft 620.
- a paragraph 613 is formed at a position corresponding to the origin on the peripheral surface of the member 611.
- An origin adjusting device 630 that can be attached to and detached from the member 612 is fixed at a position corresponding to the origin of the member 612.
- the origin adjusting device 630 includes a switch holder 615 fixed at a position corresponding to the origin of the member 612, switch means 614 held by the switch holder 615, and a linear motion bearing fixed to the switch holder 615. 616 and a sliding rod 617 that can be moved by the guide of the linear motion bearing 616.
- the switch means 614 has an on / off mover 614A.
- One end 617A of the sliding rod 617 as a positioning member is engaged with the on / off movable element 614A! When the sliding bar 617 moves away from the switch means 614, the other end 617B projects into the paragraph 613 formed in the member 611.
- FIG. 7 shows another conventional origin adjusting device disclosed in Japanese Patent Laid-Open No. 2002-239967.
- the positioning member 722 is detachably attached to the attachment portion 723 of the member 711.
- the member 712 has a contact point 721 that contacts the positioning member 722.
- the positioning member 722 is a positioning pin, and the attachment portion 723 is a screw hole into which the positioning pin can be screwed.
- the industrial robot has a first member, a positioning member attached to the first member, and a contact point that contacts the positioning member, and rotates relative to the first member.
- a message prompting you to bring the positioning member into contact with the contact is displayed.
- the second member rotates at the first joint relative to the first member.
- the position of the second member when it is detected that the contact point of the second member has come into contact with the positioning member is stored as the origin.
- FIG. 1 is a schematic diagram of an industrial robot in an embodiment of the present invention.
- FIG. 2A is a front view of the joint of the industrial robot in the embodiment.
- FIG. 2B is a cross-sectional view of the joint shown in FIG. 2A at 2B-2B.
- FIG. 3 is a flowchart of the origin adjustment method in the embodiment.
- FIG. 4A shows a teaching apparatus in the embodiment.
- FIG. 4B shows a message displayed on the teaching device according to the embodiment.
- FIG. 4C shows a message displayed on the teaching device in the embodiment.
- FIG. 4D shows a message displayed on the teaching device in the embodiment.
- FIG. 4E shows a message displayed on the teaching device in the embodiment.
- FIG. 5 is a front view of the joint of the industrial robot in the embodiment.
- FIG. 6 shows a conventional origin adjustment device.
- FIG. 7 shows another conventional origin adjusting device.
- FIG. 1 is a schematic diagram of an industrial robot 1 in an embodiment of the present invention.
- the industrial robot 1 includes a manipulator 101, a tool 109 attached to the manipulator 101, a control device 102 for controlling the manipulator 101, and a teaching device 108 for operating the manipulator 101 and the control device 102.
- Various tools 109 may be used depending on the purpose of use, such as a welding torch or a hand opening / closing device.
- Control device 102 includes CPU 103, communication unit 104 for communicating with teaching device 108, C ROM105 for storing programs for PU103 to interpret and operate, RAM106 for storing changing data such as operation programs and operation environment setting data taught by the operator, and manipulator 101 for driving A drive unit 107 is provided.
- the ROM 105 and the RAM 106 constitute a storage unit 105A.
- the manipulator 101 connects the arms 202 and 201, which are members that rotate relative to each other, the base 1204, the joint 1202 that connects the arm 201 and the arm 202, and the base 1204 and the arm 202.
- a joint 1201 and a joint 1203 for connecting the tool 109 and the arm 201 are provided.
- the drive unit 107 of the control device 102 drives the manipulator 101 by controlling a motor that operates the joints 1201 to 1203.
- the operation of the industrial robot 1 will be described.
- the operator uses the teaching device 108 to input an instruction for operating the mixer 101.
- the instruction input to the teaching device 108 is transmitted to the control device 102 and transmitted to the CPU 103 via the communication unit 104.
- the manipulator 101 operates by controlling the drive unit 107 in accordance with the instruction transmitted from the CPU 103.
- the operator moves the arms 202 and 201 of the manipulator 101 to the target positions and postures and performs a registration operation using the teaching device 108, so that the positions and postures are stored in the RAM 106.
- An operation program is created by continuing the above operations.
- the RAM 106 can store a plurality of operation programs.
- the operator uses the teaching device 108 to store a plurality of operation program forces stored in the operation program for performing the predetermined operation.
- the CPU 103 interprets the selected operation program and controls the manipulator 101 via the drive unit 107 to cause the industrial robot 1 to perform a predetermined work.
- the CPU 103 calculates the angles of the joint axes of the joints 1201 to 1203 of the manipulator 101. Before the industrial robot 1 is operated according to the operation program, it is necessary to relate the calculated angle to the actual angle. In other words, it is necessary to adjust the origin that is the reference for the angle of the joint axis. The method for adjusting the origin in the industrial robot 1 will be described below.
- FIG. 2A is a front view of joint 1202.
- FIG. 2B is a cross-sectional view of joint 1202 at 2B-2B.
- Arm 201 rotates relative to arm 202 about joint axis 201A .
- a positioning member 203 attached to the arm 202 is a reference for adjusting the origin.
- the contact point 204 contacts the positioning member 203, and the angle between the arm 201 and the arm 202 becomes a predetermined angle.
- the arm 201 is positioned with respect to the arm 202, and the predetermined angle becomes the reference origin.
- the arm 202 is formed with a receiving hole 202A for receiving the positioning member 203. When the positioning member 203 is accommodated in the accommodation hole 202A, it does not protrude from the arm 202 and does not contact the arm 201 regardless of the position of the arm 201!
- FIG. 3 is a flowchart of a method for adjusting the origin in the industrial robot 1.
- FIG. 4A shows the teaching device 108.
- the teaching device 108 includes a display unit 402 and a key unit 403 for an operator to input instructions and data.
- the display unit 402 displays a message stored in the ROM 105 and read by the CPU 103.
- 4B to 4E show messages displayed on the display unit 402.
- FIG. 4A shows the teaching device 108.
- the teaching device 108 includes a display unit 402 and a key unit 403 for an operator to input instructions and data.
- the display unit 402 displays a message stored in the ROM 105 and read by the CPU 103.
- 4B to 4E show messages displayed on the display unit 402.
- FIG. 4A shows the teaching device 108.
- the teaching device 108 includes a display unit 402 and a key unit 403 for an operator to input instructions and data.
- the display unit 402 displays a message stored in the ROM 105
- the display unit 402 has changed to the origin adjustment mode and the axis of the joint to be adjusted.
- a message prompting the user to select is displayed (step 301).
- the operator uses the key unit 403 to select the axis to be adjusted among the axes of the joints 1201 to 1203, in this case, the axis of the joint 1202.
- the display unit 402 displays a message prompting that the positioning member 203 be unable to contact the contact point 204 (Step 302). ). That is, the display unit 402 displays that the arm 201 is moved to the preparation position in order to start the origin adjustment operation. At the same time, the display unit 402 displays a message for guiding the operator not to project the positioning member 203 so that the positioning member 203 does not touch the contact point 204 or the arm 201 and damage the positioning member 203. The operator confirms the status of the positioning member 203 here. If the positioning member 203 protrudes by the force of the arm 202, it is accommodated in the accommodation hole 202A. When the robot has the positioning member 722 shown in FIG. 7, the positioning member 722 is removed from the attachment portion 723.
- the operator moves the arm 201 to the origin adjustment preparation position via the key portion 403 and inputs an instruction to the start key 403 A of the key portion 403.
- Signal from key unit 403 is teaching
- the data is transmitted from the device 108 to the communication unit 104 of the control device 102.
- the CPU 103 operates the drive unit 107 according to the program stored in the ROM 105, and only the joint 1202 selected in step 301 starts operating (step 303).
- FIG. 5 is a front view of the joint 1202 in Step 303.
- the arm 201 rotates relative to the arm 202.
- the arm 201 moves to the preparation position.
- the preparation position is a predetermined position immediately before the contact point 204 of the arm 201 does not contact the positioning member 203 but contacts the positioning member 203.
- This preparation position can be expressed based on an angle A1 (FIG. 1) formed by the arm 201 and the arm 202.
- the preparation position is the position where the angle A1 is 100 degrees, for example, the angle calculated by the CPU 103 is 10 degrees.
- the positioning member 203 is determined as a position without contacting the arm 201.
- the preparation position is 10 degrees.
- the angle of 100 degrees A1 is stored in ROM105. Note that the angle A1 when determining the preparation position need not be accurate.
- one of the arms 201 and 202 is horizontally positioned using the teaching device 108, the other is vertically positioned, and the position of the arms 201 and 202 is stored in the RAM 106 as a position corresponding to a temporary angle of 0 degrees. May be.
- the position of the angle of 0 degrees is roughly determined, and the preparation position corresponding to the angle of 10 degrees can be roughly determined based on this position.
- the angle calculated by the CPU 103 may correspond to another angle other than 90 degrees of the angle A1, for example, 0 degrees.
- the preparation position may be determined by the operator using the teaching device 108.
- the operator uses the teaching device 108 to position the contact point 204 of the arm 201 so as not to contact the positioning member 203 with great force, the arm 201 when the angle A1 (for example, about 100 degrees) is formed at this time, the position of 202 is stored in the RAM 106 as a preparation position.
- the preparation position need not be accurate as long as the positioning member 203 does not contact the arm 201. Therefore, the burden on the operator when setting the preparation position is small.
- the display unit 402 displays a message prompting that the positioning member 203 be brought into a state where it can be brought into contact with the contact point 204 (step 304). That is, the display unit 402 instructs the operator to perform an operation of bringing the positioning member 203 into contact with the contact point 204.
- the message shown in Fig. 4C is displayed. The operator sees this message and takes out the positioning member 203 from the receiving hole 202A of the arm 202 and protrudes from the arm 202. If the positioning member is the positioning member 722 shown in FIG. 7, the positioning member 722 is screwed into the screw hole and attached.
- the controller 102 When the operator causes the positioning member 203 to project according to the message shown in FIG. 4C, the controller 102 is caused to detect the positioning member 203 using the key portion 403 (step 305). In the joint 1202, the arm 201 rotates relative to the arm 202 with the contact point 204 rotating in the direction of the direction of the positioning member 203. The control device 102 stops the rotation of the arm 201 when detecting that the contact point 204 of the arm 201 is in contact with the positioning member 203.
- the CPU 103 detects that the contact point 204 is in contact with the positioning member 203 when the value of the detected current smaller than the predetermined current also changes to a value greater than the predetermined current.
- the CPU 103 stops the rotation operation at the joint 1202, and stores the stopped angle in the RAM 106 as the origin.
- the contact point 204 of the arm 201 is in contact with the positioning member 203.
- the display unit 402 displays a message for guiding the operator to perform the operation of returning the arm 201 to the preparation position shown in FIG. 4D (step 306).
- the display unit 402 displays that the positioning member 203 is urged to be brought into a state where it cannot be brought into contact with the contact point 204 (step 308). That is, The display unit 402 displays a message shown in FIG. 4E that guides the operator to perform an operation so that the positioning member 203 does not contact the contact point 204. The operator sees this message and sets the positioning member 203 into the receiving hole 202A of the arm 202 so that the positioning member 203 does not protrude from the arm 202 so that the positioning member 203 does not protrude. If the positioning member is the positioning member 722 shown in FIG. 7, the positioning member 722 is removed from the attachment portion 723. Thereafter, it is confirmed that the positioning member 203 does not contact the arm 201 (step 309).
- the control device 102 may display this on the display unit 402.
- the control device 102 may display this on the display unit 402, so that the operator can move the positioning member 203 to the arm in steps 307 and 308. Check the positioning member 203 so that it does not contact 201.
- the operation range of the arm 201 for confirming whether the positioning member 203 contacts the arm 201 is that when the positioning member 203 is at the origin where the angle A1 is 90 degrees, the angle A1 is It may be in the range of 80 degrees and 100 degrees. This value of 100 degrees for angle A1 is stored in ROM 105 or RAM106.
- the manipulator 101 automatically and sequentially operates based on a program stored in the ROM 105 and a command from the teaching device 108 to set the origin.
- a program stored in the ROM 105 By adjusting, the work load on the operator is reduced, and the work time can be shortened.
- the messages shown in Fig. 4A to Fig. 4E are displayed corresponding to the origin adjustment step, so that the operator does not project the positioning member 203 after an erroneous operation during the origin adjustment or after the adjustment is completed. In other words, it is possible to prevent forgetting that the arm 201 does not come into contact with the positioning member 203, and damage to the positioning member 203 and the arm 201 can be prevented.
- the joint to be adjusted is selected, and the selected joint is operated to perform the origin adjustment.
- a plurality of joints may be selected.
- the origins of a plurality of joints may be adjusted simultaneously within a predetermined movable range.
- the origin may be adjusted one by one at multiple joints.
- only the section that requires adjustment of the origin can be adjusted.
- the origin adjustment method for an industrial robot according to the present invention is useful as an origin adjustment method that can prevent damage to the robot arm and positioning member, reduce the operation burden on the operator, and reduce the work time. .
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05795720A EP1785236B1 (en) | 2005-04-14 | 2005-10-24 | Origin adjustment method for industrial robot |
DE602005008448T DE602005008448D1 (de) | 2005-04-14 | 2005-10-24 | Ausgangsanpassungsverfahren für einen industrieroboter |
US10/595,226 US7680551B2 (en) | 2005-04-14 | 2005-10-24 | Method of adjusting origin of industrial robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-116864 | 2005-04-14 | ||
JP2005116864A JP2006289588A (ja) | 2005-04-14 | 2005-04-14 | 産業用ロボットの原点調整方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006112069A1 true WO2006112069A1 (ja) | 2006-10-26 |
Family
ID=37114813
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/019481 WO2006112069A1 (ja) | 2005-04-14 | 2005-10-24 | 産業用ロボットの原点調整方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7680551B2 (ja) |
EP (1) | EP1785236B1 (ja) |
JP (1) | JP2006289588A (ja) |
CN (1) | CN100537155C (ja) |
AT (1) | ATE401998T1 (ja) |
DE (1) | DE602005008448D1 (ja) |
WO (1) | WO2006112069A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4674916B2 (ja) * | 2008-04-14 | 2011-04-20 | 村田機械株式会社 | パラレルメカニズム |
JP2009255196A (ja) * | 2008-04-14 | 2009-11-05 | Murata Mach Ltd | パラレルメカニズム |
JP5199815B2 (ja) * | 2008-10-08 | 2013-05-15 | 川崎重工業株式会社 | 原点位置調整機構、及びロボット |
CN101444915B (zh) * | 2008-12-26 | 2011-05-11 | 北京理工大学 | 基于霍尔信号和电机轴z脉冲的机器人初始精确定位方法 |
CN102114637A (zh) * | 2009-12-30 | 2011-07-06 | 鸿富锦精密工业(深圳)有限公司 | 机械手臂 |
CN103085082B (zh) * | 2011-11-04 | 2015-10-14 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
JP2015163414A (ja) * | 2014-02-28 | 2015-09-10 | ファナック株式会社 | 2つの部材の相対回転運動を規制する固定装置を備えるロボット、及び固定装置 |
JP6549843B2 (ja) * | 2014-12-26 | 2019-07-24 | 三菱プレシジョン株式会社 | パラレルリンク機構のキャリブレーション装置、キャリブレーション方法及びシミュレータ |
WO2017042878A1 (ja) * | 2015-09-08 | 2017-03-16 | 富士機械製造株式会社 | 多関節ロボットアーム |
JP2019118978A (ja) * | 2017-12-28 | 2019-07-22 | ファナック株式会社 | ロボットの固定システムおよびロボット |
CN109093298A (zh) * | 2018-10-24 | 2018-12-28 | 东南(福建)汽车工业有限公司 | 一种焊接机器人机械原点的校正方法 |
JP7198568B2 (ja) * | 2019-02-14 | 2023-01-04 | 株式会社Fuji | 多関節ロボット |
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JPS6162103A (ja) * | 1984-09-03 | 1986-03-31 | Hitachi Ltd | 原点合せ順序を変更可能なロボツトシステム |
JPS6377692A (ja) * | 1986-09-19 | 1988-04-07 | オムロン株式会社 | 作動範囲可変装置付き産業用ロボツト |
JPH07266266A (ja) * | 1994-03-28 | 1995-10-17 | Fanuc Ltd | 産業用ロボットの基準位置設定方法 |
JP2001041709A (ja) * | 1999-07-27 | 2001-02-16 | Toyota Central Res & Dev Lab Inc | ロボットハンド位置計測装置 |
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US4481592A (en) * | 1982-03-05 | 1984-11-06 | Texas Instruments Incorporated | Calibration system for a programmable manipulator |
US4632632A (en) * | 1983-08-30 | 1986-12-30 | Automation Equipment Company | Programmable industrial robot having simplified construction |
JP2661735B2 (ja) | 1988-12-28 | 1997-10-08 | ファナック株式会社 | 産業用ロボット用原点調整装置 |
JPH06210586A (ja) * | 1993-01-13 | 1994-08-02 | Fanuc Ltd | 各軸基準位置設定手段を備えた産業用ロボット |
JPH07108484A (ja) * | 1993-10-07 | 1995-04-25 | Fanuc Ltd | ロボットの動作端検知装置 |
US6065364A (en) * | 1995-09-18 | 2000-05-23 | Kabushiki Kaisha Yaskawa Denki | Stopper for use in an industrial robot |
KR200145221Y1 (ko) * | 1996-07-30 | 1999-06-15 | 윤종용 | 로봇 회전관절 스토퍼 |
DE29717628U1 (de) | 1997-10-02 | 1998-02-19 | Morawski Geb Wiltos Barbara | Handhabungsgerät |
EP1085389B1 (en) * | 1999-09-13 | 2004-05-12 | Fanuc Ltd | Robot and machine linked system |
JP2002239967A (ja) | 2001-02-14 | 2002-08-28 | Denso Corp | ロボット |
FR2826897A1 (fr) | 2001-07-04 | 2003-01-10 | Hpe | Mecanisme de chargement et de dechargement de boites renfermant des plaquettes de microelectronique pour le transfert de l'equipement a un chariot de transport, et inversement |
KR100500964B1 (ko) * | 2002-05-14 | 2005-07-14 | 한국과학기술연구원 | 의료 시술 장치의 3차원 위치 측정 및 고정기구 |
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JP4055691B2 (ja) * | 2003-10-03 | 2008-03-05 | 松下電器産業株式会社 | 産業用ロボット |
JP4134994B2 (ja) * | 2005-03-30 | 2008-08-20 | 松下電器産業株式会社 | 産業用ロボット |
-
2005
- 2005-04-14 JP JP2005116864A patent/JP2006289588A/ja active Pending
- 2005-10-24 DE DE602005008448T patent/DE602005008448D1/de active Active
- 2005-10-24 CN CN200580001199.9A patent/CN100537155C/zh not_active Expired - Fee Related
- 2005-10-24 AT AT05795720T patent/ATE401998T1/de not_active IP Right Cessation
- 2005-10-24 WO PCT/JP2005/019481 patent/WO2006112069A1/ja active IP Right Grant
- 2005-10-24 EP EP05795720A patent/EP1785236B1/en not_active Not-in-force
- 2005-10-24 US US10/595,226 patent/US7680551B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS6162103A (ja) * | 1984-09-03 | 1986-03-31 | Hitachi Ltd | 原点合せ順序を変更可能なロボツトシステム |
JPS6377692A (ja) * | 1986-09-19 | 1988-04-07 | オムロン株式会社 | 作動範囲可変装置付き産業用ロボツト |
JPH07266266A (ja) * | 1994-03-28 | 1995-10-17 | Fanuc Ltd | 産業用ロボットの基準位置設定方法 |
JP2001041709A (ja) * | 1999-07-27 | 2001-02-16 | Toyota Central Res & Dev Lab Inc | ロボットハンド位置計測装置 |
Also Published As
Publication number | Publication date |
---|---|
ATE401998T1 (de) | 2008-08-15 |
EP1785236B1 (en) | 2008-07-23 |
CN1925953A (zh) | 2007-03-07 |
US20080255701A1 (en) | 2008-10-16 |
EP1785236A4 (en) | 2007-09-26 |
DE602005008448D1 (de) | 2008-09-04 |
CN100537155C (zh) | 2009-09-09 |
US7680551B2 (en) | 2010-03-16 |
JP2006289588A (ja) | 2006-10-26 |
EP1785236A1 (en) | 2007-05-16 |
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