JPS6231221Y2 - - Google Patents
Info
- Publication number
- JPS6231221Y2 JPS6231221Y2 JP1980148098U JP14809880U JPS6231221Y2 JP S6231221 Y2 JPS6231221 Y2 JP S6231221Y2 JP 1980148098 U JP1980148098 U JP 1980148098U JP 14809880 U JP14809880 U JP 14809880U JP S6231221 Y2 JPS6231221 Y2 JP S6231221Y2
- Authority
- JP
- Japan
- Prior art keywords
- photoelectric
- reflecting mirror
- reflective
- piece
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000010586 diagram Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000007788 roughening Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
Description
【考案の詳細な説明】
本考案は組立用ロボツトの位置決め用装置に関
し、更に詳細には位置決めを簡便に、かつ正確に
行えるようにした位置決め用装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning device for an assembly robot, and more particularly to a positioning device that allows easy and accurate positioning.
本考案の背景を第１図を参照して説明する。第
１図は、所謂組立用ロボツトを使用した組立装置
の外観を表わす斜視図である。基台１上には駆動
源（図示せず）により回転させられるターンテー
ブル２が略中央に、組立用ロボツト３が隅部に配
置されている。ターンテーブル２には回転中心か
ら放射状に等分割された位置にワーク４を保持す
る治具５が配置され、この治具５が組立用ロボツ
ト３の動作部６のターンテーブル２上での動作位
置に対応して停止できるように間欠駆動される。
この組立装置を動作させるには、ターンテーブル
２の治具５の停止位置に対応する組立用ロボツト
３の動作部６の停止位置が問題となるが、通常は
ターンテーブル２の治具５の停止位置と組立用ロ
ボツト３の動作部６の停止位置を最初に設定すれ
ば、以後は組立用ロボツト３を動作させる制御部
（図示せず）が動作部６の停止位置を記憶し繰返
し動作ができるようになされている。ターンテー
ブル２の治具５の停止位置と組立用ロボツト３の
動作部６の停止位置の最初の位置、すなわち初期
位置を設定するものとして従来は作業者の目視に
頼つていたため、初期位置の設定に手間取ること
があり、また初期位置がずれていると正常な組立
作業が行われないばかりか組立用ロボツトの動作
部等を損傷、破壊したり、組立装置の他の部分に
過負荷がかかつたりして装置の精度を低め、更に
は装置全体を損傷するというような欠点を有して
いた。従来の目視による初期位置設定の一実施例
を第２図を参照して説明すると、ターンテーブル
２等の基準ゲージ７に穿設された基準孔８（治具
５等が組み入れられる孔）に対応する位置に、前
記ロボツト３の動作部６に配置されたフインガー
取付軸９の下端部に位置合せ用ゲージ１０をフイ
ンガー１１にて挾持して停止させる。これは作業
者の勘によりなされ、フインガー取付軸９を下降
させながら、位置合せ用ゲージ１０を基準ゲージ
７の基準孔８に嵌入できるようにフインガー取付
軸９を左右に微妙に移動させ、最終的に位置合わ
せゲージ１０を基準孔８に嵌入させ、この位置合
わせゲージ１０と基準孔８とが嵌合した位置を初
期位置として前記制御部へ記憶させていた。この
従来例においては、作業者の目視で位置合せを繰
り返し行うという手間、また位置合せ用ゲージ１
０が斜めに基準孔８に挿入された場合にはこの斜
め挿入を認識し難く、作業者の高度の熟練を必要
としながら高い位置確認精度が得られなかつた。 The background of the present invention will be explained with reference to FIG. FIG. 1 is a perspective view showing the appearance of an assembly device using a so-called assembly robot. On the base 1, a turntable 2 rotated by a drive source (not shown) is arranged approximately at the center, and an assembly robot 3 is arranged at a corner. A jig 5 for holding a workpiece 4 is arranged on the turntable 2 at positions equally divided radially from the center of rotation, and this jig 5 controls the operating position of the operating section 6 of the assembly robot 3 on the turntable 2. It is driven intermittently so that it can be stopped in response to
In order to operate this assembly device, the stop position of the operating part 6 of the assembly robot 3 that corresponds to the stop position of the jig 5 of the turntable 2 is a problem, but normally, the stop position of the jig 5 of the turntable 2 is a problem. If the position and the stop position of the operating part 6 of the assembly robot 3 are set first, the control unit (not shown) that operates the assembly robot 3 will memorize the stop position of the operating part 6 and can perform repeated operations. It is done like this. Conventionally, the initial position of the stop position of the jig 5 of the turntable 2 and the stop position of the operating part 6 of the assembly robot 3, that is, the initial position, has been determined by the operator's visual observation. Setting may take time, and if the initial position is incorrect, not only will the assembly work not be carried out correctly, but it may also damage or destroy the moving parts of the assembly robot or overload other parts of the assembly equipment. This has disadvantages such as lowering the accuracy of the device and even damaging the entire device. An example of conventional initial position setting by visual inspection will be described with reference to FIG. At this position, the positioning gauge 10 is held and stopped by the fingers 11 at the lower end of the finger attachment shaft 9 disposed in the operating section 6 of the robot 3. This is done by the operator's intuition, and while lowering the finger attachment shaft 9, the finger attachment shaft 9 is slightly moved left and right so that the alignment gauge 10 can be inserted into the reference hole 8 of the reference gauge 7, and the final The alignment gauge 10 is fitted into the reference hole 8, and the position where the alignment gauge 10 and the reference hole 8 are fitted is stored as an initial position in the control section. In this conventional example, the operator has to repeatedly perform visual alignment, and the alignment gauge 1
0 is inserted diagonally into the reference hole 8, it is difficult to recognize this diagonal insertion, and high position confirmation accuracy cannot be obtained although the operator requires a high level of skill.
又、これらとは別に、位置決めのための発光装
置をロボツトの把持部に設けたものや、反射光を
光電変換しその電流値により位置の検出を行なう
といつた技術が夫々知られているが、かような技
術を用い上述せる如き位置設定を簡便に行なうこ
とができる位置決め装置は未だ提案されていな
い。 Apart from these, there are also known technologies in which a light emitting device for positioning is provided in the robot's grip, and in which reflected light is photoelectrically converted and the position is detected based on the current value. However, no positioning device has yet been proposed that can easily perform the above-described position setting using such technology.
本考案は叙上の問題点に鑑みなされたもので組
立用ロボツトにおける動作位置の初期位置設定を
熟練を必要とせず簡便に、かつ正確に行えるよう
にした位置決め用装置を提供するものである。以
下本考案の実施例を図面を参照して説明する。 The present invention has been devised in view of the above-mentioned problems, and provides a positioning device that allows the initial position of the operating position of an assembly robot to be set easily and accurately without requiring any skill. Embodiments of the present invention will be described below with reference to the drawings.
第３図は本考案の要部説明図で、ターンテーブ
ル等の基準ゲージ７に穿設された基準孔８（ワー
クや治具が組み入れられる孔）には反射駒１２の
下部に設けられた嵌合軸１３が着脱可能に嵌合さ
れている。反射駒１２の嵌合軸１３の上部にはこ
の嵌合軸１３の直径より大なる直径のフランジ１
４が連設され、このフランジ１４の上部には中心
に反射鏡１６を有する突出部１５が連設されてい
る。反射駒１２の上面反射鏡１６と対応する位置
に投受光型の光電変換器１７を取り付けたフイン
ガー取付軸９が配置されている。光電変換器１７
の下端中央には光を投受光する光電部１８が配置
され、光電変換器１７から受光された光量に応じ
て受光量を表示する表示器１９が電気的に接続さ
れている。尚、光電変換器１７の先端の光電部１
８の電源は適宜の手段を採用し得る。 FIG. 3 is an explanatory diagram of the main part of the present invention, in which a reference hole 8 (a hole into which a workpiece or jig is installed) drilled in a reference gauge 7 of a turntable, etc. is fitted with a fitting provided at the bottom of a reflecting piece 12. A mating shaft 13 is removably fitted. A flange 1 having a diameter larger than the diameter of the fitting shaft 13 is provided on the upper part of the fitting shaft 13 of the reflection piece 12.
4 are connected in series, and a protrusion 15 having a reflecting mirror 16 at the center is connected to the upper part of the flange 14. A finger attachment shaft 9 to which a light emitting/receiving type photoelectric converter 17 is attached is arranged at a position corresponding to the upper surface reflecting mirror 16 of the reflecting piece 12 . Photoelectric converter 17
A photoelectric unit 18 that emits and receives light is arranged at the center of the lower end of the unit, and a display 19 that displays the amount of light received from the photoelectric converter 17 is electrically connected thereto. Note that the photoelectric section 1 at the tip of the photoelectric converter 17
For the power source No. 8, any appropriate means may be adopted.
次に作用について説明すると、基準ゲージ７の
基準孔８に反射駒１２の嵌合軸を嵌入し、光電変
換器１７の先端の光電部１８の電源を入れ光電部
１８の投光器から光を基準ゲージ７に向けて照射
する。光電部１８の受光器が反射駒１２の反射鏡
から反射光を受光し、反射光量による電流を表示
器１９に表示する。表示器１９の表示は第４図に
示すように矢印を付した位置が反射鏡１６と光電
部１８との相対位置が一致した位置で、この反射
鏡１６と光電部１８との相対位置がずれてくると
受光電流が極端に低下する。作業者はこの受光電
流のピーク値を表示器１９により確認し、このピ
ーク値におけるフインガー取付軸９の位置を制御
部に記憶することにより初期位置の設定が完了す
る。 Next, to explain the operation, the fitting shaft of the reflection piece 12 is fitted into the reference hole 8 of the reference gauge 7, the power of the photoelectric section 18 at the tip of the photoelectric converter 17 is turned on, and the light from the light emitter of the photoelectric section 18 is applied to the reference gauge. Irradiate toward 7. The light receiver of the photoelectric unit 18 receives reflected light from the reflecting mirror of the reflecting piece 12, and displays the current based on the amount of reflected light on the display 19. As shown in FIG. 4, the display 19 indicates that the positions marked with arrows are the positions where the relative positions of the reflecting mirror 16 and the photoelectric section 18 match, and when the relative positions of the reflecting mirror 16 and the photoelectric section 18 are shifted When this happens, the photodetection current drops dramatically. The operator confirms the peak value of the light-receiving current on the display 19, and stores the position of the finger attachment shaft 9 at this peak value in the control section, thereby completing the setting of the initial position.
第５図は、反射駒２０の下部を嵌合軸１３と
し、嵌合軸１３の上部に連設したフランジ２１の
上面中央に凹部２２を設け、この凹部２２底面に
反射鏡１６を設けたものである。 FIG. 5 shows a configuration in which the lower part of the reflecting piece 20 is a fitting shaft 13, a recess 22 is provided in the center of the upper surface of a flange 21 connected to the upper part of the fitting shaft 13, and a reflecting mirror 16 is provided on the bottom surface of this recess 22. It is.
第６図は、基準ゲージ７に基準孔８に代えて基
準ゲージ表面に突起を設けた場合の反射駒２３を
示し、反射駒２３下端より基準ゲージの突起を挿
入できる挿入孔２４が示されている。 FIG. 6 shows a reflection piece 23 in which a protrusion is provided on the surface of the reference gauge 7 in place of the reference hole 8, and an insertion hole 24 into which the protrusion of the reference gauge can be inserted from the lower end of the reflection piece 23 is shown. There is.
第７図は、反射駒の表面を加工して反射鏡部分
と無反射または弱反射部分とを設けたものであ
り、反射駒２５の上端表面中心部２６を鏡面仕上
げをし、その上端表面中心部２６を取り囲み且つ
略同心円状に表面を無反射または弱反射部分２７
を設けた実施例を示す。この無反射または弱反射
部分２７は反射駒２５の表面を粗面加工または無
反射テープを貼付する等の手段を採り得る。 In FIG. 7, the surface of the reflective piece is processed to provide a reflective mirror part and a non-reflective or weakly reflective part, and the center part 26 of the upper end surface of the reflective piece 25 is mirror-finished, A non-reflective or weakly reflective portion 27 surrounds 26 and has a substantially concentric surface.
An example is shown below. This non-reflective or weakly reflective portion 27 can be formed by roughening the surface of the reflective piece 25 or by pasting a non-reflective tape.
以上の如く、本考案によれば、反射鏡を上面中
央に有する反射駒をターンテーブル等の基準ゲー
ジに設けられた孔或いは突部に着脱自在に嵌合し
得るようにしたので、組立用ロボツトの動作位置
の設定を簡便に、かつ正確に行なうことができ
る。 As described above, according to the present invention, the reflecting piece having the reflecting mirror at the center of the upper surface can be removably fitted into the hole or protrusion provided in the reference gauge of the turntable, etc. The operating position can be easily and accurately set.
第１図は本考案の外観説明図、第２図は従来の
動作説明図、第３図は本考案の一実施例を示す要
部説明図、第４図は受光電流グラフ、第５図、第
６図は他の実施例を示す反射駒の縦断面図、第７
図は他の実施例の反射駒の平面図である。
１……基台、２……ターンテーブル、３……組
立用ロボツト、７……基準ゲージ、８……基準
孔、９……フインガー取付軸、１２，２０，２
３，２５……反射駒、１３……嵌合軸、１４，２
１……フランジ、１６……反射鏡、１７……光電
変換器、１８……光電部、１９……表示部、２２
……凹部、２４……挿入孔、２６……上端表面中
心部、２７……無反射または弱反射部分。
Fig. 1 is an explanatory diagram of the external appearance of the present invention, Fig. 2 is an explanatory diagram of conventional operation, Fig. 3 is an explanatory diagram of main parts showing an embodiment of the present invention, Fig. 4 is a graph of received light current, Fig. 5, FIG. 6 is a longitudinal sectional view of a reflection piece showing another embodiment, and FIG.
The figure is a plan view of a reflection piece of another embodiment. 1... Base, 2... Turntable, 3... Assembly robot, 7... Reference gauge, 8... Reference hole, 9... Finger mounting shaft, 12, 20, 2
3, 25... Reflection piece, 13... Fitting shaft, 14, 2
1... Flange, 16... Reflector, 17... Photoelectric converter, 18... Photoelectric section, 19... Display section, 22
... recess, 24 ... insertion hole, 26 ... center of upper end surface, 27 ... non-reflective or weakly reflective part.
Claims (1)
該光電部から投光され反射鏡から反射された反射
光を光電変換しその電流値によりフインガー取付
軸の位置を検出するようにした位置決め装置にお
いて、前記反射鏡を、基準ゲージに設けられた孔
或いは突部に着脱自在に嵌合される反射駒の上面
中央に設けたことを特徴とする組立用ロボツトの
位置決め装置。 A photoelectric part is installed on the robot finger mounting shaft,
In a positioning device that photoelectrically converts reflected light emitted from the photoelectric section and reflected from a reflecting mirror and detects the position of the finger mounting shaft based on the current value, the reflecting mirror is connected to a hole provided in a reference gauge. Alternatively, a positioning device for an assembly robot, characterized in that it is provided at the center of the upper surface of a reflective piece that is removably fitted into a protrusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1980148098U JPS6231221Y2 (en) | 1980-10-16 | 1980-10-16 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1980148098U JPS6231221Y2 (en) | 1980-10-16 | 1980-10-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5773037U JPS5773037U (en) | 1982-05-06 |
| JPS6231221Y2 true JPS6231221Y2 (en) | 1987-08-11 |
Family
ID=29507568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1980148098U Expired JPS6231221Y2 (en) | 1980-10-16 | 1980-10-16 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6231221Y2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6029253A (en) * | 1983-07-27 | 1985-02-14 | Matsushita Electric Ind Co Ltd | Numeric control screw fastener |
| JPS6025622A (en) * | 1983-07-19 | 1985-02-08 | Matsushita Electric Ind Co Ltd | Numerical control screw driving machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS515771A (en) * | 1974-05-31 | 1976-01-17 | Nasa | |
| JPS51100753A (en) * | 1975-03-03 | 1976-09-06 | Nippon Kogaku Kk |
-
1980
- 1980-10-16 JP JP1980148098U patent/JPS6231221Y2/ja not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS515771A (en) * | 1974-05-31 | 1976-01-17 | Nasa | |
| JPS51100753A (en) * | 1975-03-03 | 1976-09-06 | Nippon Kogaku Kk |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5773037U (en) | 1982-05-06 |
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