JPH02160499A - Measuring device for robot data - Google Patents

Abstract

PURPOSE:To measure the robot data showing a misregistration amt. with high accuracy and efficiently by providing an arithmetic means calculating the robot data on the slippage of the positional coordinate of the body to be detected and the original positional coordinate by input data based on the output detecting signal of the detector detecting the relative positional coordinates to one face of the body to be detected. CONSTITUTION:The body 31 to be detected is of hexahedronal shape and moved with the movable part of a robot 30. On the other hand, a positioning plate 33 is fixed to a preset relative position to the robot 30. A detector 34 is fixed to the optional hole of the porous part 32 of this positioning plate 33, opposed by being separated to one face of the body 31 to be detected and detects the relative positional coordinate to one face of the body 31 to be detected. Then, an arithmetic means 35 calculates the robot data concerning the slippage of the positional coordinate of the body to be detected and the original positional coordinate by the input data based on the output detection signal of this detector 34.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a robot data measuring device, and particularly relates to a one-bot data measuring device for measuring deviations in robot position data and relative positional relationships between robots.

The robot operates based on predetermined robot data, but if a positional deviation occurs for some reason, it is necessary to measure the position and correct the positional data.

Furthermore, in order to efficiently use one-bot data between robots, it is necessary to measure the relative positional relationship between robots.

Such position data and data regarding the relative positional relationship between robots (these are collectively referred to as robot data)
When measuring robot data, there is a need for a robot data measuring device that is inexpensive and capable of highly accurate and efficient measurement.

[Conventional technology]

FIG. 9 shows a configuration diagram of an example of a conventional robot data measuring device. In the figure, reference numeral 11 denotes a robot, and its arm 12 is configured to be movable on a plane, and a detection plate 13 is held at the tip of the arm 12. The robot 11 is fixed at a predetermined position.

Further, 14 is a positioning plate to which a detector 16 equipped with a dial gauge 15 is fixed. The positioning plate 14 is used to first perform positioning in the robot coordinate system as initial data. That is, the detection plate 13 is
6, and the value measured by the dial gauge 15 at that time is stored as position data in the X direction. Similarly, position data is measured and stored in two directions of the coordinate system y-direction, which are orthogonal to each other. Then the positioning plate 14
The robot 11 operates based on the [1bot data] created in advance.

However, for some reason, such as when the arm part 12 is replaced or when something collides with the robot 11, a positional shift occurs in the robot data created in advance, and normal operation may not be possible.

In this case, place the positioning plate 14 at the same position as when measuring the initial data again, hold the detection plate 13 in the arm 12, and move the x, y, and Z axes in the same manner as when measuring the initial data. Measure the position data again for each direction,
The difference between the measured position data and the initial data is calculated.

This difference is a positional deviation, and by tightening or subtracting it from the position data as an offset, the robot 11 can perform the intended movement with the positional deviation corrected based on the original input data. can.

FIG. 10 is a block diagram of another example of a conventional robot data measuring device. In the figure, the same components as those in FIG. 9 are denoted by the same reference numerals, and the explanation thereof will be omitted. In this conventional device, the television camera 18 is gripped by the arm 12, and the positioning plate 19 is placed at the same position using the measuring pallet as the initial data in the robot coordinate system.

A marker 20 such as a hole is placed in a predetermined position on the positioning plate 19 in advance.
is set up, and this is imaged by the television camera 18. This image output signal is subjected to image processing by the visual device 21 and then supplied to the control device 22 to become position data. Here, the initial data does not indicate the center position ■ of the marker 20, but uses the same position data as the position data! 11 device 22, and the television camera 18 images the position shifted from the center position of the marker 20 according to the positional shift of the arm 12 at that time, so the measured position data obtained at this time and the above-mentioned By controlling the robot 11 so that the difference from the initial data becomes zero, positional deviation can be corrected.

In addition, when a large number of robots of the same type perform the same work, the relative positional relationship between each robot with respect to the mask [1 pot] can be determined by using a similar method. You can know the relationship.

[Problem to be solved by the invention]

However, the conventional device shown in FIG. 9 has a narrow measurement range and must measure in each of the x, y, and l directions, making the work cumbersome and difficult to grasp the position data. Furthermore, in the case of a positional deviation that causes a rotational component between the robot coordinate system and the measuring device coordinate system, there is a problem in that even more complicated calculations are required. On the other hand, if positional deviation cannot be measured as data, it is necessary to teach all point data again, which also requires a large number of man-hours.

Furthermore, the conventional device shown in FIG.
This method uses online processing to deal with positional deviations and the relative positional relationships of each robot, but it has the drawback of being expensive.

The present invention has been made in view of the above points, and an object of the present invention is to provide a single-bot data measurement device that can efficiently measure the position of various robots with an inexpensive configuration.

[Means to solve the problem]

FIG. 1 shows a basic configuration diagram of the present invention. In the figure, 30 is a robot, 31 is an object to be detected, 32 is a porous portion, 33 is a positioning plate, 34 is a detector, and 35 is a calculation means. Detected object 3
1 has a hexahedral shape and moves together with the movable part of the robot 30.

The positioning plate 33 is fixed at a predetermined relative position with respect to the robot 30. The detector 34 is fixed to an arbitrary hole of the porous portion 32 and is spaced apart from and facing one surface of the object 31 to be detected, and detects the relative position coordinates with the one surface of the object 31 to be detected. .

The calculation means 35 calculates robot data based on the output detection signal of the detector 34.

(Operation) In order to detect the positional coordinates of the detected object 31, the detector 34 detects the relative positional coordinates of the detected object 31 with respect to three surfaces as shown in FIG. 2. In FIG. and 34G indicate the surfaces of the detectors when the detectors 34 are sequentially arranged at three mutually orthogonal positions, and the intersection O of these is taken as the origin of the XYZ coordinate system of the detectors 34.

Here, it is assumed that three sensors 37-+, 37-2, and 37-3 are arranged on the surface 34a of the detector 34 as shown in FIG. 3, and these sensors 37-
+ Detected object 31 opposite to 37-2 and 37-3
When the positions on one surface 31a of are pl, l)2 and p3, the vector equation centered on p+ is as follows.

However, in the ten equations, the coordinates of pl are (X+, WZ+)
, the coordinates of pl are (X2, V21 Z2)1p3
The coordinates of are (X3.V3.Za).

Here, if the vector cross product of p2+ and p31 centered on pl is Qx, then Qx =P2+XP3+ =a+ i +a2 j +
az k (1). However, the vector cross product Q× is a plane including the three points p++pl and p3, that is, a vector perpendicular to the detected object surface 31a in FIG.

Similarly, as shown in FIG.
If the positions on the detected body surface 31c facing the three sensors C are pl*pa and p9, then the vector cross product QV centered on p4 and the vector cross product Q centered on pl
z is the ratio of the following formula % formula %, and D+ (X+ , '1/l, Z+
) The plane equation of the detected object surface 31a passing through is a+ X+az Y+a3Z=a+ X+ +a2V+
−1−a3 Z+ =a4 (4). Similarly, for the remaining two planes 31b and 31c, plane 3 passing through l)4 (X4.V4.Z4)
The plane equation of 1b is b+ X-1-bz Y+t)3Z=b+ X4 +b
z V4+b3 Z4 =b4 (5
)1)7 Plane 31 passing through (Xy, !Vy, Z7 )
The plane equation of C is CI X+C2Y+C3Z=CI Xy +C2yy+C3Zy-C< e).

Since the detected object 31 is a hexahedron with adjacent planes at right angles,
The above three planes 31a, 31b and 31C are orthogonal to each other, and their intersection (indicated by 38 in FIG. 4) is the point at which the detected object 31
The position of this origin becomes the solution x, y, z of the following three-dimensional simultaneous equation.

ω formula ~ a+ ''-a< , t)+ ~ b4 in formula (9)
and CI ~c4 is pi (x, y, z) (however,
Since it can be found by knowing l-1 to 9), pi (
x.

y, z) and supplying it to the calculation means 35, it is possible to know the origin position of the detected object 31 in the detector coordinate system (X, V, Z).

Here, the displacement coordinates, x, y on the non-detection object 31.

Among Z, X+, X21, X3. V4, Vs+V
s.

Zy, Zs, z9 are the detection output data of the detector 34 (
variables), yI, zl, y2. zl, y3. z3゜x4
, Z 41 X s * Z s * X 6 , Z
s*Xy.

! /7, Xs, V8, X9 and y9 are detector 34
This is the same value as the known data (constant) above. Such calculations are performed at the initial setting of the robot 30 and at the time of re-measurement, and the calculation means 35 can obtain positional deviation data δX, δy, and δZ from the differences in x, y, and z.

In addition, the first plane generally expressed by the following formula % formula % and the following formula e + X 10 e 2 Y + e 3 Z + 84
The intersection angle θ formed by the second plane represented by = 0 is generally expressed by the following equation.

cosθ=dl' e1+d2 ae2 +d3
' e3/(dl+d22+d32)・(e+2+8
22+832) (10) Therefore, the detected object surfaces 31a to 31c and the detector coordinate system (X
, Y, Z) (7) By determining the intersection angle with the plane of X=O, Y=O, Z=0 based on equation (10), the detector coordinate system (X, V, Z) Detected object surface 31a in
31c can be found.

In addition, a surface 31a of the object to be detected 31 facing the detector 34
However, as shown in FIG. 7(A), the intersection angle β1 intersecting with the Y=0 plane is expressed as dlxal, d2 in the equation (10) above.
=a2, d3=at, d4=a<.

By substituting eI=e3=8<=O, e2=1, cosβ+=az/a+2+822+832 is obtained, and the intersection angle γ1 with Z-O is e+=6
By substituting 3=84=O and C34=1 into equation (10), it is obtained as CO3T+=a3/at 2+822+832.

Similarly, the surface 31b of the detected object 31 is
), the intersection angle αI made with the plane < , the intersection angle α2 and Y= with the X=0 plane as shown in FIG. 7(C)
The intersection angle β2 with the O plane is expressed by the following equations (15) and (16).

COS α+ =b+ /(b+ 2 +bz
2 + J 2 ) (t3) CO372=
b3 /(b+ 2+l)22+b32) (14)
COSα2 = CI /(c+ 2+c22+(32)
(15) cosβ2 = C2/(C12÷C22+
Ca 2) (16) However, formula (11) ~ (16)
In the formula, COSα1=cO3(α2+(π/2)), co
sβ, =COS (β2+(π/2)), cosγ
H=cos (γ2+(π/2)).

Using the above data, the position data of the robot 30 can be determined without any deviation from the original position data, and one-bot data can be measured, and the relative positional relationship of each one-point with respect to the master robot can be known.

(Embodiment) FIG. 5 shows a configuration diagram of an embodiment of the present invention. In the figure, the same components as in FIG. 1 are given the same reference numerals. In FIG. 5, there is a shaft 41 at the tip of the arm 40 of the robot 30.
A cubic-shaped object to be detected 42 is fixed via.

The shaft 41 is configured to be detachable from the arm portion 40,
This phrase is expressed as shown in the figure only when measuring robot data.

Further, 43, 44 and 45 are detectors, respectively, and the detector 3
Corresponds to 4. Further, 46 is a computer corresponding to the calculation means 35. The detectors 43, 44 and 45 have the same construction, and three ultrasonic displacement sensors 501, 502 and 503 are disposed on their surfaces, as shown in FIG.

Further, on one side of the detector 43, there is a protrusion 511 having a diameter and pitch large enough to fit into any hole of the porous portion 32.
and 512 (the same applies to detectors 44 and 45). Although it is not visible in Fig. 6, the detector 43 (44
, 45) (the surface opposite to the surface on which the ultrasonic sensors 501 to 50z are provided) is also provided with a protrusion for fitting into the hole in the porous portion 32.

In this way, the detectors 43 to 45 are modular, and the protrusion 511 is inserted into any hole in the porous portion 32 on the positioning plate 33 so that the ultrasonic displacement sensors 501 to 503 face the detected object surface 42a. In the case of the embodiment shown in FIG. 5, the line segments crossed by the detectors 43 to 45 are set as the XYZ$ standard system, and the XY2 standard system is set at the intersection point as the origin.
In the coordinates, the detector 43 is X-o, the detector 44 i,
t Y = O, and the detection S45 is placed on the coordinate of Z=0.

With this configuration, the position coordinates of the detected object 42 are calculated by the computer 46 according to the principle explained in conjunction with FIGS. 2 to 4.

In addition, the above-mentioned six intersection angles α1. α2゜β1. C2
, γ1 and γ2, the positional deviation data of rotational components δα, δ is obtained by calculating the difference between the original intersection angle and
β, δγ can be determined.

According to this embodiment, by using the modular detectors 43 to 45 and the positioning plate 33, it can be constructed at a lower cost than a device that measures robot data online using an expensive television camera. Furthermore, it is possible to measure robot data with higher precision and efficiency than with conventional devices using dial gauges.

FIG. 8 shows a block diagram of another embodiment of the present invention.

In the figure, the same components as in FIG. 6 are designated by the same reference numerals. This embodiment is characterized in that the detectors 43 to 45 are arranged in a row on the positioning plate 33 with their ultrasonic displacement sensor surfaces facing upward.

According to this embodiment, by moving the detected object 42 so as to pass over the detectors 43 to 45, the linearity of movement and the operating viscosity of the orthogonal coordinate system can be measured.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to accurately and efficiently measure robot data indicating positional deviation loss with respect to the robot's original position coordinates with an inexpensive configuration. By recording the origin position data of each robot's detected object as data, if a position shift occurs due to arm replacement, the currently operating robot 1 can be stopped when creating new robot data. It has features such as being able to be created without any problems, allowing the robot line to be operated very efficiently, and being applicable to a variety of robots, making it highly versatile.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the basic configuration of the present invention, Fig. 2 is an explanatory diagram of the XYZ coordinate system by the detector, Fig. 3 is a coordinate vector on the detected object, and Fig. 4 is an explanation of data generation based on the position of the detected object. 5 is a configuration diagram of an embodiment of the present invention, FIG. 6 is an enlarged perspective view of the main part of FIG. 5, FIG. 7 is an explanatory diagram for measuring the crossing angle, and FIG. FIG. 9 is a configuration diagram of an example of the conventional device, and FIG. 10 is a configuration diagram of another example of the conventional device. In the figure, 30 is a robot, 31.42 is an object to be detected, 32 is a porous portion, 33 is a positioning plate, 34.43 to 45 are detectors, and 35 is a docking means. Patent applicant Fujitsu Co., Ltd. Principle configuration diagram of the present invention Figure 1 Touken l knee 5 ro
7. Figure 2. Coordinate vectors of the A-toe. Figure 3. Diagram of the lectures of the Ikshōbo I column in the Naro period. Figure 5. Wooden bag! Figure 9: Structure of one row of

Claims (1)

[Claims] A hexahedral-shaped detection object (31) provided to move together with the movable part of the robot (30) and a porous section (32) consisting of a large number of regularly arranged holes are formed. a positioning plate (33) fixed at a predetermined relative position with respect to the robot (30); The object to be detected (3
1) A detector (34) that detects the relative position coordinates with one surface
and a calculation means (35) for calculating robot data regarding a deviation between the positional coordinates of the detected object (31) and the original positional coordinates according to the input data based on the output detection signal of the detector (34). A robot data measuring device characterized by: