WO2014129162A1 - Industrial robot and method for calibrating industrial robot tool attachment position - Google Patents
Industrial robot and method for calibrating industrial robot tool attachment position Download PDFInfo
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- WO2014129162A1 WO2014129162A1 PCT/JP2014/000783 JP2014000783W WO2014129162A1 WO 2014129162 A1 WO2014129162 A1 WO 2014129162A1 JP 2014000783 W JP2014000783 W JP 2014000783W WO 2014129162 A1 WO2014129162 A1 WO 2014129162A1
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- manipulator
- calibration
- industrial robot
- welding torch
- tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39021—With probe, touch reference positions
Definitions
- the present disclosure relates to an industrial robot and a calibration method of a tool attachment position of the industrial robot, and more particularly, to calibration of a tool tip coordinate that is a control point when the tool is attached to a wrist portion of the industrial robot.
- Arc welding is welding that generates an arc between a welding wire and a base material.
- arc welding using an arc welding robot which is an example of an industrial robot
- high-quality welding is realized by accurately controlling the coordinates of the tip of a welding wire that is an arc generation point.
- FIG. 1 is a diagram showing a schematic configuration of a welding robot.
- the manipulator 1 has 6 rotation axes as shown in FIG.
- the manipulator 1 can move the wrist flange 12 of the manipulator 1 to an arbitrary point within the operating range by a combination of the rotation angles of the six axes.
- the operation of the manipulator 1 is controlled by the robot controller 2.
- the manipulator 1 shows an example of a six-axis vertical articulated type, and the six rotation axes are, in order from the side closer to the installation surface of the manipulator 1, a first rotation axis, a second rotation axis, The third rotation axis, the fourth rotation axis, the fifth rotation axis, and the sixth rotation axis are used.
- the robot control device 2 includes a control unit 5, a manipulator driving unit 6, and a storage unit 7.
- the control unit 5 processes information obtained from the teach pendant 3 and transmits the processed information to the manipulator driving unit 6.
- the operation of the manipulator 1 is controlled by a signal from the manipulator driving unit 6.
- the teach pendant 3 has an information input unit 8 and a display unit 9. The user inputs a command to the information input unit 8 while confirming information displayed on the display unit 9 of the teach pendant 3, whereby the user's command is transmitted to the robot control device 2.
- the wrist flange 12 of the manipulator 1 is provided with a bolt hole or a pin hole, and the welding torch 4 can be attached to the wrist flange 12 via the holder 32.
- a welding wire 13 is fed from the tip of the welding torch 4 as shown in FIG. 3A.
- the welding wire 13 itself has a curl. Therefore, the position of the tip of the welding wire 13 that is the arc generation point is not accurately determined every time welding is performed. Therefore, when the welding program is actually created using the manipulator 1, it is assumed that the position of the tip of the welding wire 13 without a bending flaw is the arc generation point.
- This assumed arc generation point is set as a control point 14.
- the position of the control point 14 can be easily determined by attaching a teaching tip 15 having a predetermined length shown in FIG. 3C to the tip of the welding torch 4.
- the control point 14 is also called a TCP (Tool Center Point).
- FIG. 2 is a diagram showing a coordinate system of the manipulator 1.
- 4A to 4C are diagrams showing dimensions from the wrist portion of the manipulator 1 to the control point 14, and the like.
- the coordinates of the control point 14 with respect to the robot coordinate system origin 10 shown in FIG. 2 are determined by the five dimensions 16 to 20 shown in FIGS. 4A to 4C. These five dimensions are as follows.
- the dimension 16 is a vertical distance from the fourth rotation axis 21 to the horizontal plane where the control point 14 is located in a state where the fourth rotation axis 21 which is the rotation axis of the manipulator 1 is parallel to the installation surface. It is.
- the dimension 17 and the dimension 18 are distances from the sixth rotation shaft 23 that is the rotation shaft of the manipulator 1 to the control point 14. The angle formed by the direction of the dimension 17 and the direction of the dimension 18 is 90 degrees.
- the dimension 18 is 0, and the control point 14 and the sixth rotation shaft 23 overlap in the direction perpendicular to the paper surface.
- the dimension 19 is a horizontal distance from the intersection 31 between the extension line of the welding torch 4 and the surface of the wrist flange 12 to the sixth rotation shaft 23 of the manipulator 1.
- the surface of the wrist flange 12 is a surface on which the wrist flange 12 rotates around the sixth rotation shaft 23 and is perpendicular to the sixth rotation shaft 23.
- the dimension 20 is such that the direction of the fourth rotating shaft 21 of the manipulator 1 and the mounting direction of the welding torch 4 when the sixth rotating shaft 23 of the manipulator 1 is the rotation center. It is an angle to make.
- Patent Document 1 describes a method for setting a TCP (tool center point) using a jig having three holes whose positions are specified.
- Patent Document 2 describes a method of correcting a tool coordinate system of a robot using a three-dimensional visual sensor.
- Japanese Patent Application Laid-Open No. 2004-228688 describes a method of correcting the position of the torch by grasping a change in the mounting position of the torch using a dedicated check gauge.
- the wrist flange 12 and the welding torch 4 are fastened with bolts via the holder 32.
- the teaching tip 15 is attached to the tip of the welding torch 4.
- the holder 32 is provided with an adjustment bolt 30 for adjusting the shape of the holder 32 in the vicinity of the center of the holder 32.
- the holder 32 is provided with an adjusting bolt 33 that adjusts the fixing location of the welding torch 4.
- the adjusting bolt 30 is tightened after adjusting the vertical swing of the holder 32 and determining the shape of the holder 32.
- the adjustment bolt 33 is tightened after adjusting the fixing location of the welding torch 4 and determining the length of the welding torch 4 protruding from the holder 32. With these adjusting bolts 30 and 33 loosened, the gauge 29 is attached to the wrist flange 12 as shown in FIG. 3B. The gauge 29 has a small hole about the diameter of the welding wire 13. The adjustment bolts 30 and 33 are adjusted to move the welding torch 4 so that the tip of the teaching tip 15 is inserted into the hole of the gauge 29. With the tip of the teaching tip 15 inserted in the hole of the gauge 29, the adjusting bolts 30 and 33 are fastened and the welding torch 4 is fixed. Finally, the gauge 29 is removed. As described above, the position of the control point 14 with respect to the manipulator 1 can be calibrated to an appropriate position.
- JP 61-25206 A Japanese Patent Laid-Open No. 10-97311 Japanese Patent Publication No. 2-30795
- the conventional method of calibrating the position of the control point of the welding torch using a gauge requires a dedicated gauge for each welding torch.
- the gauge used for the welding torch which is produced only in a small amount due to a special specification is expensive.
- the conventional method of calibrating the position of the control point in which the gauge is attached to the wrist flange generates a large cost related to the gauge.
- the present disclosure provides an industrial robot that calibrates the coordinates of control points of a tool attached to a manipulator without using a gauge, and a method for calibrating the tool attachment position of the industrial robot. .
- the industrial robot of the present disclosure includes a manipulator, a tool, a robot control device, and a calibration reference point.
- the manipulator is installed on an installation surface having a robot coordinate system origin.
- the tool is attached to the manipulator and has control points.
- the robot control device controls the manipulator.
- the calibration reference point is provided on the manipulator. The reference point for calibration and the origin of the robot coordinate system are separated by a predetermined distance.
- the industrial robot tool mounting position calibration method of the present disclosure includes the first to fourth steps.
- the manipulator is installed on an installation surface having a robot coordinate system origin, and a calibration reference point is provided on the manipulator.
- the manipulator is operated so as to be in the tool attachment posture.
- a tool having control points is attached to the manipulator in an adjustable state.
- the tool is adjusted to match the control point to the calibration reference point.
- the reference point for calibration and the origin of the robot coordinate system are separated by a predetermined distance.
- the position of the control point of the tool can be calibrated without using a gauge.
- FIG. 1 is a diagram showing a schematic configuration of an arc welding robot in the first embodiment.
- FIG. 2 is a diagram illustrating a robot coordinate system according to the first embodiment.
- FIG. 3A is a diagram showing a tip portion of the welding torch in the first embodiment.
- FIG. 3B is a diagram showing an attachment state of a welding torch using a conventional dedicated gauge.
- FIG. 3C is a diagram showing the teaching chip in the first embodiment.
- FIG. 4A is a diagram showing dimensions of each part in the first embodiment.
- FIG. 4B is a diagram showing dimensions of each part in the first embodiment.
- FIG. 4C is a diagram showing dimensions of each part in the first embodiment.
- FIG. 5 is a diagram showing a calibration jig in the first embodiment.
- FIG. 6 is a diagram illustrating a state of the manipulator before the calibration jig according to the first embodiment is attached.
- FIG. 7 is a diagram illustrating a state of the manipulator after the calibration jig according to the first embodiment is attached.
- FIG. 8 is a diagram showing a state of the manipulator after the attachment according to the first embodiment.
- FIG. 9 is a view showing a calibration posture of the manipulator according to the first embodiment and showing a state in which a welding torch is attached to the manipulator.
- FIG. 10 is a diagram illustrating a calibration posture of the manipulator according to the first embodiment and a state in which a welding torch is not attached.
- FIG. 1 to FIG. 3A and FIG. 3C to FIG. 4C are common to the background art.
- the point which does not use the gauge 29 shown to FIG. 3B is a big point different from background art.
- 5 to 10 are drawings related only to the first embodiment.
- FIG. 5 is a diagram showing the calibration jig 11 (calibration member) in the first embodiment.
- FIG. 6 is a diagram illustrating a state of the manipulator 1 before the calibration jig 11 according to the first embodiment is attached.
- FIG. 7 is a diagram illustrating a state of the manipulator 1 after the calibration jig 11 according to the first embodiment is attached.
- FIG. 8 shows a posture for calibration of the manipulator 1 according to the first embodiment, and shows a state where the welding torch 4 is attached to the manipulator 1.
- FIG. 9 shows the calibration posture of the manipulator 1 according to the first embodiment, and shows a state where the welding torch 4 is not attached.
- the calibration jig 11 has a block shape, and is obtained by cutting a metal block with high accuracy.
- the calibration jig 11 is a member used for calibration of the position of the control point 14 of the welding torch 4.
- the calibration jig 11 is provided with a through hole 24 for attaching to the manipulator 1 with a bolt, and a calibration hole 25 for inserting the tip of the welding wire 13 or the tip of the teaching tip 15.
- the calibration hole 25 is a small hole to which the tip of the welding wire 13 or the tip of the teaching tip 15 can be inserted.
- the manipulator 1 In order to attach the calibration jig 11 to the manipulator 1, the manipulator 1 is provided with an attachment surface 26 as shown in FIG. Further, the manipulator 1 is provided with two contact surfaces 27 for fixing the mounting position of the calibration jig 11.
- the attachment surface 26 and the two contact surfaces 27 are provided on a housing surrounding the second rotation shaft of the manipulator 1.
- the casing surrounding the second rotating shaft is a metal casting, and the attachment surface 26 and the two contact surfaces 27 are made by cutting with high precision by machining. For this reason, the positions of the attachment surface 26 and the two contact surfaces 27 with respect to the robot coordinate system origin 10 are accurate.
- the manipulator 1 in the first embodiment shows an example of a six-axis vertical articulated type, and the six rotation axes are, in order from the side closer to the installation surface of the manipulator 1, the first rotation axis, The second rotation axis, the third rotation axis, the fourth rotation axis, the fifth rotation axis, and the sixth rotation axis.
- Each case from the case surrounding the first rotation axis to the case where the calibration hole 25 is provided has a manufacturing error.
- the calibration hole 25 is provided in the housing far from the installation surface of the manipulator 1, the position of the calibration hole 25 is greatly affected by accumulation of housing manufacturing errors. Therefore, it is desirable to provide the calibration hole 25 in the casing that is on the side close to the casing that surrounds the first rotating shaft and that surrounds the second rotating shaft with high processing accuracy.
- the mounting surface 26 is provided with a bolt hole 28, and the calibration jig 11 can be attached to the manipulator 1 with a bolt. Then, while pressing the calibration jig 11 against the two contact surfaces 27, a bolt (not shown) is fastened to the bolt hole 28 of the manipulator 1 through the through hole 24 of the calibration jig 11 to perform calibration. A jig 11 is attached to the manipulator 1.
- a pin hole may be provided in place of either one or both of the two contact surfaces 27.
- the state where the calibration jig 11 is attached to the manipulator 1 is shown in FIG.
- the position of the calibration hole 25 with respect to the robot coordinate system origin 10 is accurately determined.
- dirt may adhere to the manipulator 1 due to spatter scattering or the like.
- the calibration jig 11 is detachable from the manipulator 1, it can be removed during welding. Therefore, by removing the calibration jig 11 from the manipulator 1 during welding, it is possible to prevent the calibration jig 11 from becoming dirty during welding. That is, spattering during welding does not adhere to the calibration hole 25 of the calibration jig 11 to reduce the calibration accuracy of the tool position.
- the calibration hole 25 may be provided in the manipulator 1 itself without using the calibration jig 11. In this case, it is desirable to provide the cover 34 around the calibration hole 25 in order to protect the calibration hole 25 from spatter scattering during welding.
- the calibration jig 11 having the calibration hole 25 can be attached to and detached from the manipulator 1, and a cover or the like for protecting the calibration hole 25 of the calibration jig 11 may be provided in the manipulator 1. .
- the manipulator 1 of the first embodiment is provided with the calibration hole 25 for calibrating the position of the control point 14 of the welding torch 4 at a position where accuracy from the robot coordinate system origin 10 is guaranteed. It has been.
- the calibration hole 25 can be provided in the calibration jig 11 that can be attached to and detached from the manipulator 1. Further, as shown in FIG. 8, the calibration hole 25 may further include a cover 34 provided in the manipulator 1 itself so that the manipulator 1 can protect the calibration hole 25 from dirt such as spatter.
- FIG. 9 shows the posture of the manipulator 1 when the position of the control point 14 of the welding torch 4 is calibrated.
- This posture is set as a manipulator calibration posture.
- the calibration posture of the manipulator 1 is also the posture of the manipulator 1 in which the welding torch 4 can be easily attached, and is registered in the storage unit 7 of the robot control device 2 in advance.
- the coordinates from the center point of the wrist flange 12 to the control point 14 vary depending on the shape of the welding torch 4 to be used. Therefore, the calibration posture of the manipulator corresponding to the welding torch 4 is stored in advance in the storage unit 7 of the robot control device 2.
- the operator operates the information input unit 8 of the teach pendant 3 and calls the calibration function (hereinafter referred to as a calibration function) of the welding torch 4 on the display unit 9 of the teach pendant 3.
- the calibration function the operator operates the information input unit 8 to select the welding torch 4 to be attached to the wrist flange 12 from a plurality of welding torches stored in advance in the calibration function.
- information on the calibration postures of the plurality of welding torches 4 is registered in advance.
- the robot control device 2 transmits information on the calibration posture of the selected welding torch 4 from the storage unit 7 to the manipulator driving unit 6. Based on the received calibration posture, the manipulator driving unit 6 of the robot control device 2 operates the manipulator 1 in the calibration posture of the welding torch 4 as shown in FIG.
- the welding torch 4 is attached to the wrist flange 12 of the manipulator 1 through the holder 32, and the holder 32 and the wrist flange 12 are fastened with pins or bolts, or pins and bolts.
- the adjusting bolt 30 for adjusting the shape of the holder 32 and the adjusting bolt 33 for adjusting the fixing position of the welding torch 4 are loosened, and the position of the welding torch 4 with respect to the manipulator 1, that is, welding with respect to the manipulator 1 is performed.
- the position of the control point 14 of the working torch 4 is brought into a state where fine adjustment is possible. In this state, the teach pendant 3 is operated, and the welding wire 13 is pushed out from the tip of the welding torch 4 by a predetermined length.
- This predetermined length is equal to the distance from the welding torch 4 to the control point 14 when the welding wire 13 is not bent.
- This predetermined length is a length defined for each welding torch 4.
- the adjustment bolt 30 is loose, the holder 32 that is in an adjustable (changeable) state is deformed.
- the adjustment bolt 33 is loose, the fixing position of the welding torch 4 that is in an adjustable (changeable) state is adjusted. By these adjustments, the tip of the welding torch 4 is moved so that the tip of the welding wire 13 is inserted into the calibration hole 25. Then, the adjustment bolt 30 is fastened to fix the shape to the holder 32, and the adjustment bolt 33 is fastened to fix the fixing position of the welding torch 4. Thereby, the position of the control point 14 of the welding torch 4 with respect to the manipulator 1 is calibrated to an appropriate position.
- the welding wire 13 has a bending flaw. Therefore, when more precise adjustment is performed, the teaching tip 15 is attached to the tip of the welding torch 4, and the tip of the teaching tip 15 is inserted into the calibration hole 25 instead of the welding wire 13 for adjustment.
- the bolts 30 and 33 are fastened.
- the manipulator 1 is moved to an appropriate posture by operating the teach pendant 3, and the calibration jig 11 is removed from the manipulator 1.
- the calibration jig 11 is stored so as not to be scratched or soiled until the next use.
- the control point 14 of the welding torch 4 can be calibrated to an appropriate position. That is, when the welding torch 4 is attached to the manipulator 1, even when the control point 14 is not in the correct position, by appropriately deforming the holder 32 and adjusting the fixing position of the welding torch 4, The control point 14 can be moved to the correct position.
- the teach pendant 3 is operated to place the tip of the welding wire 13 inside the welding torch 4.
- the adjustment bolts 30 and 33 are loosened so that the position of the welding torch 4 can be finely adjusted.
- the method is the same as the calibration method of the position of the control point 14 of the welding torch 4 described above.
- the manipulator 1 has the reference point (calibration hole 25) for calibrating the position of the control point 14 instead of the gauge 29.
- calibration postures corresponding to various welding torches 4 are stored in the storage unit 7 of the robot control device 2. Therefore, regardless of the shape of the welding torch 4, the position of the control point 14 can be easily calibrated without using the gauge 29, so that the cost for the gauge 29 can be reduced. Further, the additional design of the welding torch 4 that is required when the gauge 29 is difficult to attach is unnecessary, and the structure of the welding torch 4 itself can be simplified.
- the welding torch 4 is attached to the manipulator 1 after the manipulator 1 moves the welding torch 4 to the calibration posture.
- the welding torch 4 may be attached to the manipulator 1 and then the manipulator 1 may be moved to the calibration posture.
- the position of the control point 14 of the welding torch 4 can be calibrated using the adjusting bolts 30 and 33.
- the adjustment bolt 30 is loosened to finely adjust the tip position of the welding torch 4.
- An example is shown in which the manipulator 1 is moved to the calibration posture after being in a possible state. However, after the manipulator 1 is moved to the calibration posture, the adjustment bolt 30 may be loosened so that the tip position of the welding torch 4 can be finely adjusted.
- the adjustment mechanism of the holder 32 is realized by the adjustment bolts 30 and 33.
- the adjustment bolt 30 fixes the connection part that connects the two parts included in the holder 32. With the adjustment bolt 30 loosened, the positional relationship between the two parts is changed. The shape can be changed. And the holder 32 can be fixed to a preferable shape by fastening the adjusting bolt 30.
- the adjustment bolt 33 is passed through a long hole provided in the holder 32 and is screwed into a screw hole provided in the welding torch 4. The welding torch 4 and the holder 32 are coupled by the adjustment bolt 33. By loosening the adjustment bolt 33, the position of the welding torch 4 with respect to the holder 32 can be finely adjusted.
- the position of the control point of the tool can be calibrated without using a gauge, which is industrially useful as an industrial robot and a method for calibrating the tool attachment position of the industrial robot.
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Abstract
Description
本実施の形態1において、図1から図3A、図3Cから図4Cは、背景技術と共通であり、背景技術と同様の箇所には同一の符号を付して詳細な説明は省略する。なお、図3Bに示すゲージ29を用いない点が背景技術と異なる大きな点である。また、図5から図10は、本実施の形態1にのみ関係する図面である。 (Embodiment 1)
In the first embodiment, FIG. 1 to FIG. 3A and FIG. 3C to FIG. 4C are common to the background art. In addition, the point which does not use the
2 ロボット制御装置
3 ティーチペンダント
4 溶接用トーチ
5 制御部
6 マニピュレータ駆動部
7 記憶部
8 情報入力部
9 表示部
10 ロボット座標系原点
11 較正用治具
12 手首フランジ
13 溶接用ワイヤ
14 制御点
15 教示用チップ
21 第4の回転軸
23 第6の回転軸
24 貫通穴
25 較正用穴
26 取り付け面
27 接触面
28 ボルト穴
29 ゲージ
30,33 調整用ボルト
31 交点
32 ホルダ
34 カバー DESCRIPTION OF
Claims (11)
- ロボット座標系原点を有する設置面に設置されたマニピュレータと、
前記マニピュレータに取り付けられ、制御点を有するツールと、
前記マニピュレータを制御するロボット制御装置と、
前記マニピュレータに設けられた較正用基準点とを備え、
前記較正用基準点と前記ロボット座標系原点とは所定の距離だけ離れている産業用ロボット。 A manipulator installed on an installation surface having a robot coordinate system origin;
A tool attached to the manipulator and having control points;
A robot controller for controlling the manipulator;
A calibration reference point provided on the manipulator,
An industrial robot in which the calibration reference point and the robot coordinate system origin are separated by a predetermined distance. - 前記マニピュレータに取り付けられた較正用部材をさらに備え、
前記較正用基準点は、前記較正用部材に設けられている請求項1に記載の産業用ロボット。 A calibration member attached to the manipulator;
The industrial robot according to claim 1, wherein the calibration reference point is provided on the calibration member. - 前記較正用基準点は、前記マニピュレータの表面に形成されている請求項1に記載の産業用ロボット。 The industrial robot according to claim 1, wherein the calibration reference point is formed on a surface of the manipulator.
- 前記較正用基準点を覆い、着脱可能なカバーをさらに備えた請求項3に記載の産業用ロボット。 4. The industrial robot according to claim 3, further comprising a removable cover that covers the calibration reference point.
- 前記マニピュレータは、第1の回転軸と第2の回転軸を有し、
前記第1の回転軸は前記マニピュレータの設置面に最も近い回転軸であり、
前記第2の回転軸は前記マニピュレータの設置面に2番目に近い回転軸であり、
前記較正用基準点は、前記第2の回転軸を囲む筐体に設けられている請求項1から4のいずれか1項に記載の産業用ロボット。 The manipulator has a first rotating shaft and a second rotating shaft,
The first rotation axis is the rotation axis closest to the installation surface of the manipulator;
The second rotation axis is a rotation axis closest to the installation surface of the manipulator,
The industrial robot according to any one of claims 1 to 4, wherein the calibration reference point is provided in a housing surrounding the second rotation axis. - 前記ロボット座標系原点は、前記第1の回転軸と前記設置面の交点である請求項5に記載の産業用ロボット。 The industrial robot according to claim 5, wherein the origin of the robot coordinate system is an intersection of the first rotation axis and the installation surface.
- 前記ツールは溶接用トーチおよびホルダを含む請求項1から6のいずれか1項に記載の産業用ロボット。 The industrial robot according to any one of claims 1 to 6, wherein the tool includes a welding torch and a holder.
- マニピュレータを、ロボット座標系原点を有する設置面に設置し、前記マニピュレータに較正用基準点を設ける第1の工程と、
前記マニピュレータを較正用姿勢となるように動作させる第2の工程と、
制御点を有するツールを前記マニピュレータに、調整可能な状態で取り付ける第3の工程と、
前記ツールを調整して、前記制御点を前記較正用基準点に一致させる第4の工程とを備え、
前記較正用基準点と前記ロボット座標系原点とは所定の距離だけ離れている産業用ロボットのツール取り付け位置の較正方法。 A first step of installing a manipulator on an installation surface having a robot coordinate system origin, and providing a calibration reference point on the manipulator;
A second step of operating the manipulator so as to be in a calibration posture;
A third step of attaching an adjustable tool to the manipulator in an adjustable manner;
Adjusting the tool to match the control point to the calibration reference point; and
A calibration method of a tool attachment position of an industrial robot in which the calibration reference point and the robot coordinate system origin are separated by a predetermined distance. - 前記第2の工程の後に前記第3の工程を行う請求項8に記載の産業用ロボットのツール取り付け位置の較正方法。 9. The method for calibrating the tool attachment position of an industrial robot according to claim 8, wherein the third step is performed after the second step.
- 前記第3の工程の後に前記第2の工程を行う請求項8に記載の産業用ロボットのツール取り付け位置の較正方法。 The method for calibrating the tool attachment position of the industrial robot according to claim 8, wherein the second step is performed after the third step.
- 前記ツールは溶接用トーチおよびホルダである請求項8~10のいずれか1項に記載の産業用ロボットのツール取り付け位置の較正方法。 The method for calibrating a tool mounting position of an industrial robot according to any one of claims 8 to 10, wherein the tool is a welding torch and a holder.
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JP6512456B2 (en) * | 2016-12-27 | 2019-05-15 | トヨタ自動車株式会社 | Calibration jig and method for horizontally articulated robot |
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JPWO2014129162A1 (en) | 2017-02-02 |
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