JPH033793A - Adjusting method for origin of robot - Google Patents

Abstract

PURPOSE:To obtain the levelness of the line connecting a joint center point with high accuracy by drilling holes in advance at the center point of a pair of joints, placing a jig made by joining mutual flat faces on the pin inserted into these holes via one part of the flat face and placing a level on the other part of the flat face of the jig. CONSTITUTION:Holes 7, 9 are drilled in advance at the center points 3, 5 of a pair of adjacent joints. Pins 11, 13 in the same diameter as that of this hole are respectively inserted into a pair of the holes 7, 9 and a jig 15 made by joining the mutual flat faces 21, 23 is placed on a pair of the pins 11, 13 via one part of the flat face 21. A level 25 is then placed on the other part of the flat face 23 of the jig 15 to see the levelness of the line connecting the joint center point.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method for adjusting the origin of a robot, and particularly to a method for determining the horizontality or verticality of a line connecting adjacent joint center points.

(Prior Art) In an articulated robot, it is necessary to secure the origin of the arm angle in order to convert the arm angle into Cartesian coordinates.

The origin position of the arm angle is usually determined to coincide with the horizontal or vertical direction of the arm.

Therefore, with reference to FIG. 4, a method for determining the horizontality and verticality of the arm will be explained.

A flat surface 103 is provided on a part of the arm 101,
A level 105 is placed on this flat surface 103. In this state, the arm 101 is slightly moved to make it horizontal, and it is assumed that the line connecting the joint center points 107 and 109 is horizontal.

In addition, the arm] 11 is also provided with a surface 113 toward the flat 1, and by placing a spirit level 115 on this flat surface 113 and slightly moving the arm 111, it becomes horizontal, and with this, the joint center point], Assume that the line connecting 09117 is vertical.

In this way, the horizontal and vertical lines are determined, and by using these as the origin of each arm], O], , 11], the robot I~ is set in terms of software and hardware.

(Problem to be Solved by the Invention) When converting from arm angle to orthogonal coordinates, what is truly required is the horizontality of the line connecting indirect center point], 07.109, and indirect center point 109.117. The connecting line is vertical.

On the other hand, in the case of the conventional adjustment method, each arm
Flange 1 to surface 103.113 installed at 01.111
This is based on the following.

Therefore, the flat surface]0] and the indirect center point 107.1
If the parallelism of the line connecting 09 is lost, the line connecting indirect center point ]07.109 cannot be said to be horizontal, and an error will occur when converted to orthogonal coordinates.

Similarly, Fuji 1 to 713 and indirect center point 109117
Errors also occur if the lines connecting the lines are not orthogonal.

Therefore, the flat surface 10] and the indirect center point 107, ]
It is necessary to obtain with high accuracy the parallelism of the line connecting 09, the flat surface]]3 and the indirect center point 109.1]7.

However, it is difficult to obtain such parallel and orthogonal states with high precision due to processing precision, assembly precision, etc.
Improvement was required.

The present invention has been made based on the above points, and an object of the present invention is to provide a method for adjusting the origin of a robot, which enables highly accurate origin adjustment.

(Means for Solving the Problem) In order to achieve the above object, the robot origin adjustment method according to the present invention involves drilling holes in advance at the center points of a pair of adjacent joints, Insert pins of the same diameter, place a jig made by joining the flat surfaces on top of the pair of pins via one flat surface, and place the The feature is that a spirit level is placed on the joint to check the levelness of the line connecting the joint center points.

First, a jig is made by drilling a hole in advance at the center point of the adjacent joint, inserting a pin with approximately the same diameter as the hole into the pair of holes, and suspending a weight from the ring via a string. ``Hang it by hanging it by hanging a link on the upper pin of the pair of pins mentioned above, and check the verticality of the line connecting the joint center point by aligning the lower end of the needle with the lower pin.'' It is characterized by the fact that

(Operation) A hole is drilled at the center of the joint, and pins with approximately the same diameter as the hole are inserted into each hole.

On the other hand, a jig is prepared, and this jig is made by integrating two members each having one flat surface by joining the flat surfaces together.

Then, place such a jig on the pin via one flat I-plane, place a spirit level on the other flat surface, and check the level between the joint center points.

When a hole is drilled at the joint center point and a pin is inserted into this hole, it is not difficult to align the concentricity of the hole and the pin with high precision.

Furthermore, it is relatively easy to form one flat I-surface on each member constituting the jig because it has no angular relationship with other surfaces. At the same time, since such flat surfaces are joined together, the flat surfaces are substantially completely parallel to each other.

Therefore, observing the horizontal plane through a pair of pins using such a jig corresponds with high precision to observing the horizontal plane of a line connecting the joint center points.

Therefore, no error occurs when converting to orthogonal coordinates.

Next, a pair of pins having approximately the same diameter as the holes are respectively inserted into holes previously drilled at adjacent joint center points.

On the other hand, prepare a jig in which a weight is suspended from a ring via a string, and suspend the ring by attaching one stroke to the pin located above the pair of pins. By aligning the lower end of the weight with the pin located below, the verticality of the line connecting the joint center points is determined.

In this case as well, it is not so difficult to obtain concentricity between the hole formed at the joint center point and the pin with high precision.

Therefore, looking at the vertical direction through the pair of pins corresponds with high accuracy to looking at the vertical direction of the line connecting the joint center points.

Therefore, similarly, no error occurs when converting to orthogonal coordinates.

(Embodiment) An embodiment of the present invention will be described below with reference to FIGS. 1 to 3.

First, the case of setting the horizontal level will be explained with reference to FIGS. 1 and 2. A hole 7.9 is drilled in the joint center point 3.5 located on both sides of the arm 1.

A pin 1113 having approximately the same diameter as the hole 7.9 is inserted into the hole 7.9.

On the other hand, a jig 15 is prepared, and this jig 15 has two
]7.19. The member 17 is provided with one furazo 1 to 2], and each member is also provided with 7911 to 23. jig]
5 is one in which the two members marked -J- [7.

It is relatively easy to form one flat 1-plane 2] and 23 on each member 17. since there is no angular relationship with other surfaces. Since they are joined, both flat surfaces 2] and 23 are in a substantially completely parallel state.

The jig 15 having such a configuration is placed on the pin 11.13 via the flange surface 2]. And the flat surface 23
A spirit level 25 is placed on top, and the arm 1 is slightly moved to make it level.

In this case, the parallelism between the line connecting the upper surfaces of pins 1 and 13 and the line connecting the joint center point 3.5 is provided with high accuracy, and the parallelism between flat surfaces 21 and 23 is also the same. be.

Therefore, placing the spirit level 25 on the flat surface 23 and checking its levelness is highly accurate with checking the levelness of the line connecting the joint center points 3.5.

Therefore, it is possible to reduce errors when converting to orthogonal coordinates.

Next, the case of setting the vertical will be explained with reference to FIG. Joint center points 33 located on both sides of the arm 31.
35 has 637.3 holes drilled. Hole 37 above
．． Three, the pin 4.6 has approximately the same diameter as 637.39. ], 4
．． 3 has been inserted. The pin 43 has a conical tip.

On the other hand, a jig 45 is prepared, and this jig 45 has an inverted conical weight 51 suspended from a ring 47 via a string 49, and a length adjustment mechanism 53 is provided in the middle of the string 49. is inserted.

This jig 45 is suspended by hanging the ring 47 on the pin 41. Then, while slightly moving the arm 31,
The lower end of the inverted conical weight 51 and the tip of the pin 43 are made to coincide. This will reduce the plumb.

In this case as well, the concentricity of pins 4] and 637 and the concentricity of pins 43 and 63 are provided with high accuracy, so pins 4. ], 43 corresponds with high accuracy to looking at the verticality of the line connecting the joint center points 33.35.

Therefore, it is possible to reduce errors when converting to orthogonal coordinates.

(Effects of the Invention) As detailed above, according to the method of adjusting the origin of the robot 1 according to the present invention, the following effects can be achieved.

■It is possible to obtain the horizontality of the line connecting the joint center points with high accuracy.

■The verticality of the line connecting the joint center points can be obtained with high accuracy.

(2) Therefore, even when the horizontal and vertical coordinates are converted into orthogonal coordinates, the error that occurs is small.

0

[Brief explanation of drawings]

Figures 1 to 3 show one embodiment of the present invention, of which Figure 1 is a front view showing how the method of the present invention is applied to achieve levelness, and Figure 2 is a front view showing how the method of the present invention is applied to achieve levelness. FIG. 3 is a perspective view of a jig used to obtain verticality. FIG. 3 is a perspective view showing how to obtain verticality by applying the method of the present invention. Moreover, FIG. 4 is a front view showing the case of a conventional example. 3.5.33 7.9.37 11.13.41 5 2] 47: Ring surface, arm joint center point, two pins, two jigs, flat L-plane string: inverted conical weight 1 5 9 3 5 3 9 1

Claims (2)

[Claims] (1) Drill holes in advance at the center points of a pair of adjacent joints, insert pins with approximately the same diameter as the holes into the pair of holes, and join the flat surfaces on top of the pair of pins. The feature is that a jig is placed on one flat surface of the jig, and a spirit level is placed on the other flat surface of the jig to check the horizontality of the line connecting the joint center points. How to adjust the robot's origin. (2) A jig made by drilling a hole in advance at the center point of the adjacent joint, inserting a pin with approximately the same diameter as the hole into the pair of holes, and suspending a weight from the ring via a string. was suspended by hanging a ring on the upper pin of the pair of pins, and by aligning the lower end of the weight with the lower pin, the verticality of the line connecting the joint center points could be checked. A method for adjusting the origin of a robot, which is characterized by: