JPH0446718B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a mounting structure for a reference positioning device for an industrial robot.

[Conventional technology]

When controlling the drive of an industrial robot in a work space based on reference coordinates, it is necessary to determine in advance the position and attitude standards (hereinafter, the attitude will be omitted) of the industrial robot. This setting work is required when the installation position of the robot is changed, when maintenance of the robot, parts replacement, etc. are performed. Japanese Patent Application No. 60-116785 filed by the applicant
No. 61-279478) discloses and proposes a device for this reference positioning, but this device has the front part of the robot base as the mounting location, so it is difficult to set the robot's reference position. The basic condition was that it be performed in front of the robot. The robot reference position setting work will be briefly described below with reference to FIG. 2 in connection with the previously proposed device described above.

FIG. 2 schematically shows the reference position setting work for a 6-axis articulated industrial robot, and a jig 70 can be removed with a bolt from the reference surface 52a on the front side of the base portion 52 fixed to the installation surface 50. It is attached to. Further, a body 54 is attached to the base portion 52, a W-axis arm 56 is attached to the body 54, a U-axis arm 58 is attached to the arm 56, and a wrist portion 60 is attached to the U-axis arm 58. This wrist portion 60 is composed of a base portion 62, an intermediate portion 64, and a hand attachment portion 66.
The hand attachment part 66 is equipped with another jig 6 instead of the hand.
8 is attached.

As is well known, the body 54, the W-axis arm 56, the U-axis arm 58, the base 62, the intermediate portion 64, and the hand attachment portion 66 have rotational degrees of freedom in rotational directions θ, W, U, γ, β, and α, respectively. A total of six dial gauges 72 are set on the jig 70 attached to the reference surface 52a. On the other hand, the aforementioned other jig 68 is a rectangular parallelepiped, and the three mutually orthogonal surfaces of this rectangular parallelepiped jig 68 are connected to the aforementioned dial gauge 72.
The reference position of the robot is set by rotating and turning each movable part of the robot so that the value indicated by each dial gauge 72 becomes a predetermined value.

[Problem that the invention seeks to solve]

However, at sites where industrial robots operate, due to restrictions on robot installation, there are obstacles such as objects to work near the front of the robot, and sufficient free space cannot be secured, so it is not always possible to set the robot's reference position. There were many cases where this was not easy to implement.

Therefore, in order to solve this problem, the present invention sets standards at multiple locations on the robot base so that the reference position can be set not only at the front of the robot but also at other locations, such as the sides or rear. It is an object of the present invention to provide a mounting structure for a reference positioning device for an industrial robot, which is configured so that a positioning jig can be mounted thereon.

[Means for solving problems]

In view of the above-mentioned objects of the invention, the present invention provides a mounting structure for a reference positioning device for an industrial robot, in which a standard positioning jig is mounted on the outer periphery of the base of the industrial robot at a front position. The present invention is characterized in that an engaging means is provided, and further, spare attachment and engagement means are provided at positions on the outer periphery of the base portion and at appropriate angles apart around the robot from the positions of the standard attachment and engagement means. The present invention provides a mounting structure for a reference positioning device for an industrial robot.

[Effect]

In the industrial stage of industrial robots, there are usually no obstacles around them, and the standard positioning means used for determining the robot's reference position is attached to the mounting and engaging means provided at the front of the outer periphery of the robot base. Standard positioning work can be performed by attaching a jig. However, if it becomes necessary to recalibrate the robot after it has been installed on the production line, i.e., redo the reference positioning work, it cannot necessarily be done at the front of the robot, but rather at the side or rear position. A necessity arises. In this case as well, the calibration work can be accomplished without difficulty by using the attachment and engagement means at preliminary positions that have been prepared and set in advance.

〔Example〕

Hereinafter, the present invention will be explained in more detail based on embodiments shown in the accompanying drawings.

FIG. 1 is a partially schematic perspective view of the present invention applied to a six-axis articulated industrial robot.

First, the configuration of a six-axis articulated industrial robot will be schematically explained with reference to FIG. The robot includes a base portion 12 that is fixed to an installation surface such as a floor or a wall. A body 14 that is rotatable in the θ direction around an axis perpendicular to the installation surface is erected on the base portion 12.
A W-axis arm 16 is attached that can pivot in the W direction around an axis perpendicular to the axis. Furthermore, a U-axis arm 18 that can pivot in the U direction around an axis parallel to the W-direction rotation axis is attached to the tip of the W-axis arm 16, and a wrist portion 20 is disposed at the tip of the U-axis arm 18. It is set up. This wrist part 2
0 includes a base portion 22 that rotates in the γ direction around the longitudinal axis of the U-axis arm 18, and an intermediate portion 24 that can rotate in the β direction around an axis perpendicular to the longitudinal axis;
A hand attachment part 26 is provided at the tip of the intermediate part 24, which is rotatable in the α direction about an axis perpendicular to the β direction rotation axis.

In order to drive and control the six-axis articulated industrial robot constructed as described above in a work space using reference coordinates with respect to the installation surface of the robot, it is necessary to determine the reference position of the industrial robot in advance. For this purpose, a reference positioning jig (not shown) was attached to the base part 12, and six dial gauges (not shown) were attached to the jig and attached to the hand attachment part 26 of the robot. A jig is brought into contact with these dial gauges, and the attitude of the robot is adjusted so that the indicated values of these dial gauges become predetermined values. Depending on the posture and position of the robot adjusted in this way, each rotation and turning direction θ, W,
It becomes possible to drive and control the robot in the work space based on the position signal generated by the position signal generator, for example, the encoder, of each servo motor that drives the corresponding parts in U, γ, β, and α. in particular,
The operator sends a signal indicating reference value setting to the control circuit of the control device 40 electrically connected to the robot via an operation panel (not shown) while adjusting the robot to the reference position. By doing so,
The reference state of the robot (position signals issued by each encoder) can be stored in a memory circuit within the control circuit, such as a RAM. The reference state of the robot stored in this memory circuit is input to an arithmetic circuit when a current position confirmation signal is sent to this memory circuit, and various coordinate transformations necessary for robot drive control are performed.

In the present invention, the above reference position is set on the base part 1.
2, not only the front part 30 but also the side part 32 and the rear part 34
A plurality of screw holes 36 (in this embodiment, four screw holes each) for attaching or removing a jig for attaching a dial gauge are provided in the front part 30, side part 32, and rear part of the base part 12 so that it is possible to install the dial gauge. It is provided on each side of 34. In addition, these screw holes 36, so that the same jig can be installed, the spacing between each screw hole 36 and the standard of the screw hole 36 are the same on each of the four mounting surfaces (the side portions 32 are on the left and right). .

The reference positioning work for each of the four mounting surfaces 30, 32, and 34 is the same as the work for the front portion 30. In this way, the reference state of the robot set for each mounting surface is different, but the reference state set corresponding to each mounting surface and the six rotation and turning directions θ, W, U, γ, β, α
The relationship between each corresponding angle is set in advance, and it is possible to drive the robot based on these angles. For example, the angle corresponding to the rotation direction θ is 0 degrees when the front part 30 is the reference;
90 degrees for right side 32, 180 degrees for rear side 34
It is set as degrees.

In the above embodiment, the front, rear, left, and right 4 parts of the base part
Although screw holes for attaching the jig are provided at these locations, they may be provided at other side locations, and there is no need to provide them at four locations; for example, there may be three locations. Furthermore, it is conceivable to provide a positioning pin in the attachment part, and the attachment method may be by bolts or nuts instead of screws.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, even if the reference positioning work of the robot cannot be performed on the front side of the robot, the setting work can be performed on other sides, for example, the left and right sides. This makes it possible to eliminate wasteful work such as moving objects to be worked on in front, and improves the efficiency of on-site work.

[Brief explanation of the drawing]

FIG. 1 is a partially schematic perspective view of the present invention applied to a six-axis articulated industrial robot, and FIG. 2 is a side view of reference position setting work for the six-axis articulated industrial robot. 12... Base part, 14... Torso, 16... W-axis arm, 18... U-axis arm, 20... Wrist part,
22... Base, 24... Middle part, 26... Hand attachment part, 30... Front part, 32... Side part, 34...
Rear part, 36...screw hole, 40...control device, U,
W, β...Turning direction, α, γ, θ...Rotation direction.

Claims (1)

[Claims] 1. A mounting structure for a reference positioning device for an industrial robot, which is provided with standard mounting and engagement means for a reference positioning jig on the outer periphery of the base of the industrial robot at a front position, and further includes: Installation of a reference positioning device for an industrial robot, characterized in that spare attachment and engagement means are provided at positions on the outer periphery of the robot at appropriate angles away from the position of the standard attachment and engagement means around the robot. structure.