JP2014087863A - Device and method for correcting multijoint robot - Google Patents

Abstract

A rotation angle of a joint in an articulated robot can be corrected without contact.
A body 2 and a leg 3 having a first joint 5A that can be rotated by a first rotation shaft 8A and a second joint 5B that can be rotated by a second rotation shaft 8B. 4, and the first joint 5 </ b> A is a correction device for the multi-joint robot 1 provided on the body 2 side of the second joint 5 </ b> B, and the second joint 5 </ b> B of the multi-joint robot 1 taking the reference posture is provided. Laser light when the laser irradiation device 16A irradiates laser light α at a predetermined position and the rotation angle of the first joint 5A and the position and orientation of the first rotation shaft 8A coincide with the reference posture of the articulated robot 1. It has a photodetector 17A provided at a position where α can be detected, and a display device 18 for displaying a detection result by the photodetector 17A.
[Selection] Figure 1

Description

  The present invention relates to a correction apparatus and method for an articulated robot that adjusts and corrects a rotation angle of a joint of the articulated robot.

  In order to operate the articulated robot as calculated, the posture information of the articulated robot needs to match the actual posture of the articulated robot. However, a certain amount of error occurs in machining and assembly of the mechanical device. When an articulated robot is operated, the tip of the articulated robot moves to a location that deviates from the calculated target position due to the effects of processing and assembly errors as described above, and collides with the target object. There is a risk of damage. As a technique for reducing the error of such an articulated robot, there is a technique as described in Patent Document 1.

JP-A-63-3318274

  In the technique of Patent Document 1, it is necessary to bring a measuring tool into contact with each other in order to measure an error in the position of each member constituting the articulated robot. For this reason, it is necessary to provide a space in the articulated robot so that the measuring tool can pass around and around the portion where the measuring tool comes into contact, which limits the design.

  Further, taking the articulated robot 1 described later in the first embodiment with reference to FIG. 2 as an example, the articulated robot 1 has legs 3 and 4 connected to the body 2 and the legs 3 are the first. One joint 5A, a second joint 5B, a third joint 5C and a foot 7A are provided, and the leg 4 is provided with a first joint 5D, a second joint 5E, a third joint 5F and a foot 7B. As shown in FIGS. 11 and 12, an error that cannot be corrected only by adjusting the rotation angles of the joints 5A to 5F may occur in the joints 5A to 5F of the multi-joint robot 1 that should originally be as shown in FIG. FIG. 11 shows the position error in the Z-axis direction of the second rotation shaft 8B of the second joint 5B, and FIG. 12 shows the error in the direction of the rotation shaft 8B of the second joint 5B (angle error in the roll direction). However, the same applies to each error in the X-axis direction, the Y-axis direction, the pitch direction, and the yaw direction.

  In such a case, the technique of Patent Document 1 can correct the position of the member in contact with the measuring tool in the articulated robot, but the position and angle (orientation) error of the joint connected to the member in contact with the measuring tool. Cannot be corrected. For this reason, the posture of the articulated robot when it is corrected matches the calculated target position. However, when the articulated robot is operated, the position is displaced.

  Embodiments of the present invention have been made in consideration of the above-described circumstances, and an object thereof is to provide a correction apparatus and method for a multi-joint robot capable of correcting the rotation angle of the joint in the multi-joint robot in a non-contact manner. To do.

  A correction apparatus for an articulated robot according to an embodiment of the present invention includes a robot main body, a first joint that is provided on the robot main body, and that can rotate on a first rotation axis, and a second rotation that can rotate on a second rotation axis. An articulated robot correction device provided with the first joint being closer to the robot body than the second joint, wherein the articulated robot takes a reference posture. A laser device that irradiates a predetermined position of the second joint with laser light, and a rotation angle of the first joint and a position and orientation of the first rotation axis that coincide with the reference posture of the articulated robot; It is characterized by comprising a photodetector provided at a position where laser light can be detected, and display means for displaying a detection result by the photodetector.

  The correction method for the multi-joint robot according to the embodiment of the present invention includes a robot main body, a first joint that is provided on the robot main body, and that can rotate around the first rotation axis, and that can rotate around the second rotation axis. A multi-joint robot correcting method in which the first joint is provided closer to the robot body than the second joint, and takes a reference posture. When a laser beam is irradiated from a laser device to a predetermined position of the second joint, the rotation angle of the first joint and the position and orientation of the first rotation axis coincide with the reference posture of the articulated robot. The laser beam is detected by a photodetector provided at a position where the laser beam can be detected, and the rotation angle of the first joint is adjusted so that the photodetector detects the laser beam properly. It is characterized by It is intended.

  According to the embodiment of the present invention, the rotation angle and the like of the first joint can be corrected in a non-contact manner by adjusting the rotation angle and the like of the first joint so that the photodetector appropriately detects the laser beam. .

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram which shows 1st Embodiment in the correction apparatus of the articulated robot which concerns on this invention with an articulated robot. The block diagram which shows the articulated robot of FIG. 1. It is a connection member of FIG. 1, (A) is a partial front view which shows the fastening state by a fastening bolt, (B) respectively shows the state except a fastening bolt. (A) And (B) is explanatory drawing which shows the laser beam detection condition by the photodetector of FIG. The block diagram which shows 2nd Embodiment in the correction apparatus of the articulated robot which concerns on this invention with an articulated robot. The block diagram which shows 3rd Embodiment in the correction apparatus of the articulated robot which concerns on this invention with an articulated robot. It is a photodetector of 4th Embodiment in the correction | amendment apparatus of the articulated robot which concerns on this invention, (A) is the condition before laser beam detection, (B) is the state which detected the laser beam, (C) detected Explanatory drawing which respectively shows the condition where a laser beam exists in the optimal position. It is the detection image of the photodetector of 5th Embodiment in the correction | amendment apparatus of the articulated robot which concerns on this invention, (A) and (B) are the conditions detected in the state which reduced the laser beam, (C) is a laser beam. Explanatory drawing which each shows the condition detected in the state expanded. It is the other form of the joining member of FIG. 1, (A) is the state before the addition of a spacer, (B) is a partial front view which respectively shows the state after the addition of a spacer. 1. It is the other form of the connection member of FIG. 1, (A) is a partial front view which each shows the state which inclined the other with respect to one side of a connection member, when the other is linear with respect to one side of a connection member. Figure. The front view which shows the condition where the position of the rotating shaft of the 2nd joint of an articulated robot shifted | deviated to the Z-axis direction. The front view which shows the condition where the direction of the rotating shaft of the 2nd joint of an articulated robot shifted | deviated to the roll direction.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
[A] First embodiment (FIGS. 1 to 4)
FIG. 1 is a block diagram showing the first embodiment of the correction apparatus for an articulated robot according to the present invention together with the articulated robot, and FIG. 2 is a block diagram showing the articulated robot of FIG. As shown in FIG. 2, the articulated robot 1 to be corrected by the correcting device 10 for the articulated robot shown in FIG. 1 includes a body 2 as a robot body and a plurality of arms (for example, two) as arms. Leg portions 3 and 4, and the leg portions 3 and 4 are connected to the trunk portion 2.

  Each of the leg portions 3 and 4 has a plurality of joints and foot portions connected by connecting members. For example, in the present embodiment, the leg 3 includes the first joint 5A and the second joint 5B by the second connecting member 6B, and the second joint 5B and the third joint 5C by the third connecting member 6C and the third joint 5C. The foot portion 7A is connected to each other by a fourth connecting member 6D, and the first joint 5A is connected to the trunk portion 2 by the first connecting member 6A. Accordingly, the second joint 5B is provided on the body 2 side rather than the third joint 5C, and the first joint 5A is provided on the side of the trunk portion 2 than the second joint 5B.

  The leg 4 includes a first joint 5D and a second joint 5E by a second connecting member 6F, a second joint 5E and a third joint 5F by a third connecting member 6G, and a third joint 5F and a foot 7B. The first joint 5D is connected to the trunk portion 2 by the first connecting member 6E. Accordingly, the second joint 5E is provided on the body 2 side rather than the third joint 5F, and the first joint 5D is provided on the side of the trunk 2 respectively.

  Here, in the leg portion 3, the first rotation shaft 8A of the first joint 5A includes the second rotation shaft 8B of the second joint 5B, the third rotation shaft 8C of the third joint 5C, and the central axis 9A of the foot portion 7A. Are set orthogonally to each other. Similarly, in the leg portion 4, the first rotation shaft 8D of the first joint 5D includes the second rotation shaft 8E of the second joint 5E, the third rotation shaft 8F of the third joint 5F, and the central axis 9B of the foot portion 7B. Are set orthogonally to each other. Each of the joints 5A to 5F is rotatably provided on each of the rotation shafts 8A to 8F.

  Among the connecting members 6A to 6H, in particular, the second connecting members 6B and 6F, the third connecting members 6C and 6G, and the third connecting members 6D and 6H have a plurality of connecting member elements 11A and 11B as shown in FIG. Are configured to be fastened by fastening bolts 12 as fastening members. At this time, the insertion holes 13 formed in the connecting member elements 11A, 11B,... And through which the fastening bolts 12 are inserted are formed larger than the outer diameter of the fastening portion 12B excluding the head portion 12A of the fastening bolt 12.

  As a result, the connecting member element 11B is moved in the axial direction A and in the direction substantially perpendicular to the axis B with respect to the connecting member element 11A by a dimensional difference between the hole diameter of the insertion hole 13 and the outer diameter of the fastening portion 12B of the fastening bolt 12. It becomes possible to make it. As a result, the rotation axes 8B and 8C and the central axis 9A of the second joint 5B, the third joint 5C, and the foot 7A connected by the second connecting member 6B, the third connecting member 6C, and the fourth connecting member 6D, respectively. The position and orientation can be adjusted. Furthermore, the positions of the rotation axes 8E and 8F and the central axis 9B of the second joint 5E, the third joint 5F, and the foot 7B connected by the second connecting member 6F, the third connecting member 6G, and the fourth connecting member 6H. And the orientation can be adjusted.

  In addition, when the hole diameter of the insertion hole 13 becomes larger than the outer diameter of the head 12A of the fastening bolt 12, the fastening bolt 12 is dealt with by using a hooked bolt or using a washer (not shown). .

  The correction device 10 for the articulated robot corresponds to the device body 15 having a frontal portal shape, the second joints 5B and 5E, the third joints 5C and 5F, and the feet 7A and 7B of the articulated robot 1. A plurality of (for example, six) laser irradiation devices 16A, 16B, 16C, 16D, 16E, and 16F as laser devices for irradiating the laser beam α, and the same number as the laser irradiation devices 16A to 16F. Photodetectors 17A, 17B, 17C, 17D, 17E, and 17F that detect the laser light α, and displays connected to the photodetectors 17A to 17F and displaying detection data of the photodetectors 17A to 17F, respectively. And a display device 18 as means.

  The apparatus body 15 is configured such that the ceiling portion 15 </ b> A can hold the body portion 2 of the articulated robot 1. Further, the laser irradiation devices 16 </ b> A to 16 </ b> F are installed on the column portion 15 </ b> B of the device body 15. Among these, each of the laser irradiation devices 16A to 16F includes the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B of the multi-joint robot 1 taking the reference posture. Are arranged on the column portion 15B of the apparatus main body 15 so as to be opposed to the respective predetermined positions and to irradiate these predetermined positions with the laser light α.

Here, the reference posture of the multi-joint robot 1 is that the rotation angles of the joints 5A to 5F of the multi-joint robot 1 are reference angles, and the positions of the respective rotation axes 8A to 8F of the joints 5A to 5F are appropriate. It is a posture in which the rotation shafts 8A to 8F are in a state where there is no inclination.
In addition, the articulated robot 1 takes the reference posture by driving control of the articulated robot 1 (automatic control or manual control by a control device) or external force (using a jig or manually) on the articulated robot 1. It means that “the articulated robot 1 performs an operation for taking a posture that matches the reference posture so that the positions of the rotation axes 8A to 8F of the joints 5A to 5F are appropriate and the inclination is eliminated”.

  Each of the photodetectors 17A to 17F is based on the rotation angle of each joint 5A to 5F of the articulated robot 1 and the positions and orientations of the respective rotation axes 8A to 8F of the joints 5A to 5F. In this embodiment, the predetermined positions of the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B can be detected. Installed in each position.

  When a laser beam α is irradiated from each of the laser irradiation devices 16A to 16F using a calibration jig (not shown) in which the same number of photodetectors as the photodetectors 17A to 17F are appropriately arranged, calibration is performed. The laser irradiation devices 16A to 16F are calibrated by adjusting their positions and angles (orientations) so that the laser light α can be properly detected by the plurality of photodetectors of the jig for use.

  As a case where the laser beam α is properly detected by the photodetectors of the calibration jig and the photodetectors 17A to 17F, the laser beam α is detected in the detection area 19 as shown in FIG. The detection intensity of the laser beam α is maximized, or the laser beam α is detected at the center position of the detection area 19 as shown in FIG. In the latter case, for example, it is possible to confirm that the laser beam α has been detected at the center position of the detection area 19 using a mark 19A provided in the detection area 19.

  Next, using the articulated robot correction device 10 in which the laser irradiation devices 16A to 16F are calibrated as described above, the rotation angles of the joints 5A to 5F of the articulated robot 1, the joints 5B, 5C, and 5E, A procedure for correcting the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F and the central axes 9A and 9B of the feet 7A and 7B in each of the 5Fs will be described.

  By detecting the laser light α emitted from the laser irradiation device 16A by the photodetector 17A, the rotational angle of the first joint 5A and the displacement of the position and orientation of the first rotation shaft 8B of the second joint 5B are confirmed. When the laser beam α is not properly detected by the photodetector 17A, the rotation angle of the first joint 5A is adjusted until the laser beam α is properly detected by the photodetector 17A, and the second connection is made. In the member 6B, the connecting member element 11B is moved relative to the connecting member element 11A.

  Similarly, the rotation angle of the second joint 5B is adjusted until the laser light α irradiated by the laser irradiation device 16B is properly detected by the photodetector 17B, and the third connecting member 6C is connected to the connecting member element 11A. The connecting member element 11B is moved. Further, the rotation angle of the third joint 5C is adjusted until the laser light α irradiated by the laser irradiation device 16C is properly detected by the photodetector 17C, and the fourth connecting member 6D is connected to the connecting member element 11A. The member element 11B is moved.

  Further, the rotation angle of the first joint 5D is adjusted until the laser beam α irradiated by the laser irradiation device 16D is properly detected by the photodetector 17D, and the second connecting member 6F is connected to the connecting member element 11A. The member element 11B is moved. Further, the rotation angle of the second joint 5E is adjusted until the laser beam α irradiated by the laser irradiation device 16E is properly detected by the photodetector 17E, and the third connecting member 6G is connected to the connecting member element 11A. The member element 11B is moved. Further, the rotation angle of the third joint 5F is adjusted until the laser light α irradiated by the laser irradiation device 16F is properly detected by the photodetector 17F, and the fourth connecting member 6H is connected to the connecting member element 11A. The member element 11B is moved.

With the configuration as described above, according to the present embodiment, the following effect (1) is obtained.
(1) The first joint 5A and the second connecting member 6B are adjusted so that the photodetector 17A installed at the second joint 5B properly detects the laser light α, and the first joint 5B is installed at the third joint 5C. The second joint 5B and the third connecting member 6C are adjusted so that the light detector 17B properly detects the laser light α, and the light detector 17C installed on the foot 7A properly detects the laser light α. The third joint 5C and the fourth connecting member 6D are adjusted so that they are detected.

  Further, the first joint 5D and the second connecting member 6F are adjusted so that the photodetector 17D installed at the second joint 5E properly detects the laser light α, and the photodetector 17D is installed at the third joint 5F. The second joint 5E and the third connecting member 6G are adjusted so that the light detector 17E properly detects the laser light α, and the light detector 17F installed on the foot 7B properly detects the laser light α. The third joint 5F and the fourth connecting member 6H are adjusted so as to be detected.

Thereby, the rotation angles of the joints 5A to 5F in the multi-joint robot 1, the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the legs 7A and 7B The positions and orientations of the central axes 9A and 9B can be corrected without contact.
Although the display device 18 has been described as displaying an image as shown in FIG. 4, for example, the outputs (detection intensities) of the photodetectors 17 </ b> A to 17 </ b> F are displayed as they are, or the internal positions are OK through internal processing. , NG may be displayed. Further, for example, a lamp that is turned on when the detection intensity of each of the photodetectors 17A to 17F is equal to or higher than a predetermined value may be attached to the apparatus main body 15.

[B] Second Embodiment (FIG. 5)
FIG. 5 is a block diagram showing a second embodiment of the correction apparatus for an articulated robot according to the present invention, together with the articulated robot. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The correction device 20 for the articulated robot in the second embodiment is different from the first embodiment in that the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B. Reflectors 21A, 21B, 21C, 21D, 21E, and 21F are installed on each of the optical detectors, and each of the photodetectors 17A to 17F is configured to be able to detect the laser light α reflected by each of the reflectors 21A to 21F. Is a point.

  That is, each of the reflection units 21A to 21F is the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B of the multi-joint robot 1 in the reference posture. In FIG. 5, the laser beam is emitted from each of the laser irradiation devices 16A to 16F. Each of the photodetectors 17A to 17 has a rotation angle of each joint 5A to 5F of the articulated robot 1 and positions and orientations of respective rotation axes 8A to 8F of the joints 5A to 5F. For example, the laser beam α reflected by each of the reflecting portions 21 </ b> A to 21 </ b> F can be detected, for example, in the column portion 15 </ b> B of the apparatus main body 15 when it matches the reference posture.

  When a calibration jig (not shown) having the same number of reflection parts as the reflection parts 21A to 21F is used and the laser beam α is irradiated from each of the laser irradiation devices 16A to 16F, the calibration jig The laser irradiation devices 16A to 16F and the photodetectors 17A to 17F are reflected so that the laser beams [alpha] are reflected by the plurality of reflecting portions, and the reflected laser beams [alpha] can be appropriately detected by the photodetectors 17A to 17F. Are calibrated by adjusting their positions and angles (orientations).

  Next, using the multi-joint robot correction device 20 in which the laser irradiation devices 16A to 16F and the photodetectors 17A to 17F are calibrated as described above, the rotation angles of the joints 5A to 5F of the multi-joint robot 1 and the joints 5B A procedure for correcting the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F and the central axes 9A and 9B of the feet 7A and 7B in each of 5C, 5E, and 5F will be described.

  By detecting the laser light α irradiated from the laser irradiation device 16A and reflected by the reflecting portion 21A by the photodetector 17A, the rotation angle of the first joint 5A and the position and orientation of the rotation shaft 8B of the second joint 5B are detected. Check for misalignment. When the laser beam α is not properly detected by the photodetector 17A, the rotation angle of the first joint 5A is adjusted until the laser beam α is properly detected by the photodetector 17A, and the second connection is made. In the member 6B, the connecting member element 11B is moved relative to the connecting member element 11A.

  Similarly, the rotation angle of the second joint 5B is adjusted until the laser light α irradiated by the laser irradiation device 16B and reflected by the reflecting portion 21B is properly detected by the photodetector 17B, and the third connecting member. In 6C, the connecting member element 11B is moved relative to the connecting member element 11A. Further, the rotation angle of the third joint 5C is adjusted until the laser light α irradiated by the laser irradiation device 16C and reflected by the reflecting portion 21C is properly detected by the photodetector 17C, and the fourth connecting member 6D. Then, the connecting member element 11B is moved relative to the connecting member element 11A.

  Further, the rotation angle of the first joint 5D is adjusted until the laser light α irradiated by the laser irradiation device 16D and reflected by the reflecting portion 21D is properly detected by the photodetector 17D, and the second connecting member 6F. Then, the connecting member element 11B is moved relative to the connecting member element 11A. Further, the rotation angle of the second joint 5E is adjusted until the laser light α irradiated by the laser irradiation device 16E and reflected by the reflecting portion 21E is properly detected by the photodetector 17E, and the third connecting member 6G. Then, the connecting member element 11B is moved relative to the connecting member element 11A. Further, the rotation angle of the third joint 5F is adjusted until the laser light α irradiated by the laser irradiation device 16F and reflected by the reflecting portion 21F is properly detected by the photodetector 17F, and the fourth connecting member 6H. Then, the connecting member element 11B is moved relative to the connecting member element 11A.

With the configuration as described above, according to the second embodiment, the following effects (2) and (3) are obtained.
(2) The first joint 5A and the second connecting member 6B are adjusted so that the photodetector 17A properly detects the laser light α reflected by the reflecting portion 21A installed in the second joint 5B. Further, the second joint 5B and the third connecting member 6C are adjusted so that the light detector 17B appropriately detects the laser light α reflected by the reflecting portion 21B installed in the third joint 5C. Further, the third joint 5C and the fourth connecting member 6D are adjusted so that the photodetector 17C appropriately detects the laser light α reflected by the reflecting portion 21C installed on the foot 7A.

  Further, the first joint 5D and the second connecting member 6F are adjusted so that the light detector 17D appropriately detects the laser light α reflected by the reflecting portion 21D installed in the second joint 5E. Further, the second joint 5E and the third connecting member 6G are adjusted so that the photodetector 17E appropriately detects the laser light α reflected by the reflecting portion 21E installed at the third joint 5F. Further, the third joint 5F and the fourth connecting member 6H are adjusted so that the light detector 17F appropriately detects the laser light α reflected by the reflecting portion 21F installed on the foot portion 17B.

  Thereby, the rotation angles of the joints 5A to 5F in the multi-joint robot 1, the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the legs 7A and 7B The positions and orientations of the central axes 9A and 9B can be corrected without contact.

  (3) Since the photodetectors 17A to 17F are installed in the column portion 15B of the apparatus body 15 and are not installed in the articulated robot 1, the wiring of the articulated robot 1 can be reduced by the amount of the photodetectors 17A to 17F. At the same time, when the articulated robot 1 is operated for its original purpose, it is possible to avoid problems that the photodetectors 17A to 17F are damaged or misaligned.

[C] Third embodiment (FIG. 6)
FIG. 6 is a block diagram showing a third embodiment of the correction apparatus for an articulated robot according to the present invention, together with the articulated robot. In the third embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The correction device 30 of the multi-joint robot in the third embodiment is different from the first embodiment in that the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B. Through holes 31A, 31B, 31C, 31D, 31E, and 31F are formed in each of the optical detectors, and the photodetectors 17A to 17C pass through the through holes 31A and 31D, the through holes 31B and 31E, and the through holes 31C and 31F, respectively. It is the point which was comprised so that the laser beam (alpha) which carried out can be detected.

  That is, when the rotation angles of the joints 5A to 5F of the multi-joint robot 1 and the positions and orientations of the rotation axes 8A to 8F of the joints 5A to 5F coincide with the reference posture of the multi-joint robot 1, Through holes 31A and 31D are formed in each of the two joints 5B and 5E so that the laser beam α irradiated from the laser irradiation device 16A can penetrate, and in each of the third joints 5C and 5F, laser irradiation is performed. Through holes 31B and 31E are formed so that the laser beam α irradiated from the device 16B penetrates, and further, the laser beam α irradiated from the laser irradiation device 16C passes through each of the legs 7A and 7B. Through holes 31C and 31F are formed.

  The light detector 17A can detect the laser light α that has passed through the through holes 31A and 31D, and the light detector 17B can detect the laser light α that has passed through the through holes 31B and 31E. The container 17C is installed on the column portion 15B of the apparatus main body 15 so as to be able to detect the laser light α penetrating the through holes 31C and 31F.

  Note that the laser irradiation devices 16A to 16C and the photodetectors are used so that the laser light α irradiated from each of the laser irradiation devices 16A, 16B, and 16C is properly detected by the photodetectors 17A, 17B, and 17C. The positions and orientations of 17A to 17C are adjusted and calibrated.

  Next, the rotation angles of the joints 5A to 5F of the multi-joint robot 1 and the joints using the correction device 30 of the multi-joint robot in which the laser irradiation devices 16A to 16C and the photodetectors 17A to 17C are calibrated as described above. A procedure for correcting the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F in each of 5B, 5C, 5E, and 5F and the positions and orientations of the central axes 9A and 9B in each of the feet 7A and 7B will be described.

  The photodetector 17A detects the laser light α irradiated from the laser irradiation device 16A and passed through the through hole 31A of the second joint 5B and the through hole 31D of the second joint 5E, so that the first joints 5A and 5D The shift of the rotation angle and the shift of the position and orientation of the rotation shaft 8B of the second joint 5B and the rotation shaft 8E of the second joint 5E are confirmed.

  When the laser beam α is not detected by the photodetector 17A, first, the rotation angle of the first joint 5A is adjusted so that the laser beam α visually passes through the through hole 31A of the second joint 5B. In the two connecting members 6B, the connecting member element 11B is moved relative to the connecting member element 11A. Next, the rotation angle of the first joint 5D is adjusted so that the laser light α visually passes through the through hole 31D of the second joint 5E, and the connecting member element 11B is moved to the connecting member element 11A in the second connecting member 6F. Move. Thereafter, the rotation angle of the first joints 5A and 5D is finely adjusted so that the laser light α is properly detected by the photodetector 17A, and the connecting member element is connected to the connecting member element 11A in the second connecting members 6B and 6F. 11B is moved minutely.

  Similarly, the second detector 17B appropriately detects the laser light α irradiated from the laser irradiation device 16B and passed through the through hole 31B of the third joint 5C and the through hole 31E of the third joint 5F. The rotation angles of the joints 5B and 5E are adjusted, and the connecting member element 11B is moved with respect to the connecting member element 11A in the third connecting members 6C and 6G. Further, the third joint 5C and the third joint 5C are configured so that the photodetector 17C appropriately detects the laser light α irradiated from the laser irradiation device 16C and passed through the through hole 31C of the foot 7A and the through hole 31F of the foot 7B. The rotation angle of 5F is adjusted, and the connecting member element 11B is moved with respect to the connecting member element 11A in the fourth connecting members 6D and 6H.

  With the configuration as described above, according to the third embodiment, in addition to the same effect as the effect (3) of the second embodiment, the following effects (4) and (5) are achieved.

  (4) The first joints 5A and 5D and the second connecting member so that the photodetector 17A properly detects the laser light α that has passed through the through hole 31A of the second joint 5B and the through hole 31D of the second joint 5E. Adjust 6B and 6F. Further, the second joints 5B and 5E and the third connecting member 6C are configured so that the light detector 17B properly detects the laser light α that has passed through the through hole 31B of the third joint 5C and the through hole 31E of the third joint 5F. And adjust 6G. Further, the third joints 5C and 5F and the fourth connecting members 6D and 6H are configured so that the light detector 17C appropriately detects the laser light α that has passed through the through hole 31C of the foot 7A and the through hole 31F of the foot 7B. Adjust.

  Thereby, the rotation angles of the joints 5A to 5F in the multi-joint robot 1, the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the legs 7A and 7B The positions and orientations of the central axes 9A and 9B can be corrected without contact.

(5) Each of the through holes 31A to 31F is formed in the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B of the articulated robot 1, and the reflecting portion 21A. Since 21F is not installed, the material of the second joint 5B, the third joint 5C, the foot 7A, the second joint 5E, the third joint 5F, and the foot 7B is not limited. Furthermore, since the reflection parts 21A to 21F are not contaminated and the reflectance is not lowered, the detection accuracy by the photodetectors 17A to 17C can be improved.
In addition, each through-hole 31A-31F should just be penetrated optically, and does not need to be penetrated mechanically. For example, each joint 5B, 5C, 5E, 5F, etc. may be configured with a partially transparent member.

[D] Fourth embodiment (FIG. 7)
7A and 7B show a photodetector according to a fourth embodiment of the correction apparatus for an articulated robot according to the present invention. FIG. 7A shows a state before laser light detection, FIG. 7B shows a state in which laser light is detected, and FIG. () Is an explanatory view showing the situation where the detected laser beam is in the optimum position. In the four embodiments, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The correction device of the articulated robot of the fourth embodiment is different from the first to third embodiments in that the detection area 42 of the photodetector 41 is divided into a plurality (for example, 2) as shown in FIG. 3 or 4).

  That is, in the fourth embodiment, the detection area 42 of the photodetector 41 is divided into two parts, which are a first divided detection area 42A and a second divided detection area 43B. The detection position of the laser beam α with respect to the detection area 42 is determined based on the difference in the intensity of the laser beam α detected in each of the divided detection areas 42A and 42B.

  For example, as shown in FIG. 7B, when the detection position of the laser beam α is deviated from the center position in the detection area 42 of the photodetector 41, the first divided detection area 42A and the second divided detection area. The intensity of the laser light α detected by 42B is different. Therefore, as shown in FIG. 7C, the detection intensity of the laser beam α is equal in the first divided detection area 42A and the second divided detection area 42B, and the laser beam α is appropriate at the center position of the detection area 42. , The rotational angles of the joints 5A to 5F in the multi-joint robot 1, the positions and orientations of the rotational axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the foot 7A, The position and orientation of each central axis 9A, 9B of 7B are adjusted.

  Therefore, in the photodetector 41 of the fourth embodiment in the correction apparatus for the multi-joint robot, the detection position of the laser light α can be accurately positioned at the center position of the detection area 42. -5F rotation angle, the positions and orientations of the rotation axes 8B, 8C, 8E, 8F of the joints 5B, 5C, 5E, 5F, and the positions and orientations of the central axes 9A, 9B of the feet 7A, 7B, respectively. It can be adjusted with high precision.

[E] Fifth embodiment (FIG. 8)
FIGS. 8A and 8B are detection images of the photodetector of the fifth embodiment in the articulated robot correction apparatus according to the present invention. FIGS. 8A and 8B show a state in which laser light is detected in a reduced state. ) Is an explanatory view showing a situation where the laser beam is detected in an enlarged state. In the fifth embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The correction device for the articulated robot of the fifth embodiment is different from the first to third embodiments in that a photodetector (not shown) has a laser beam reduction / expansion function for reducing or expanding the detected laser beam α. It is a prepared point. As the photodetector, for example, a camera having a laser light reduction / enlargement function is used, and FIG. 8 shows a camera image 51 as a detected image.

  First, the photodetector is set to a wide angle, and the position of the laser beam α is detected over a wide range by reducing the laser beam α as shown in FIG. In this state, the rotation angles of the joints 5A to 5F in the multi-joint robot 1, the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the feet 7A and 7B, respectively. The positions and orientations of the central axes 9A and 9B are adjusted, and the detected laser light α is positioned at the center position of the camera image 51 as shown in FIG.

  Next, the position of the laser beam α is detected with high accuracy by setting the photodetector to zoom and enlarging the laser beam α as shown in FIG. In this state, the rotation angles of the joints 5A to 5F, the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the central axes 9A of the feet 7A and 7B, The position and orientation of 9B are adjusted, and the detected laser light α is positioned at the center position of the camera image 51 with high accuracy and appropriately detected.

  Therefore, in the fifth embodiment of the correction apparatus for an articulated robot, the laser light α can be detected over a wide range by first setting the photodetector to a wide angle. Therefore, the rotation angles of the joints 5A to 5F in the multi-joint robot 1, the positions and orientations of the rotation axes 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the feet 7A and 7B, respectively. The direction in which the positions and orientations of the central axes 9A and 9B are to be adjusted can be easily and accurately determined. As a result, the correction of the joints 5A to 5F of the articulated robot 1 can be performed quickly.

  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the spirit of the invention, and components over different embodiments can be made. May be combined as appropriate. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, the second connecting members 6B and 6F, the third connecting members 6C and 6G, and the fourth connecting members 6D and 6H are not configured by the connecting member elements 11A, 11B, and the fastening bolts 12A shown in FIG. 9 and FIG. 10, the first connecting member element 55, the second connecting member element 56, the third connecting member element 57, the spacer 58, the pressing bolt 59, and the like may be used.

  That is, the spacer 58 is provided between the first connecting member element 55 and the second connecting member element 56 so that they can be interposed, and the first connecting member element 55 and the second connecting member element 56 are connected by the connecting bolt 60. The As shown in FIGS. 9A and 9B, the first connecting member element 55 and the second connecting member element 56 move in the axial direction M of the connecting bolt 60 by adding or removing the spacer 58, and are connected. Position of the other rotation shafts 8B, 8C, 8E, 8F relative to one of the adjacent joints 5A-5F connected by the members 6B, 6C, 6D, 6F, 6G, 6H, and the positions of the legs 7A, 7B relative to the joints 5C, 5F The positions of the central axes 9A and 9B are adjusted.

  Further, the second connecting member element 56 and the third connecting member element 57 are pivotally supported by a pivot shaft 61 so as to be pivotable in a direction N substantially perpendicular to the axial direction M of the coupling bolt 60. Further, the second connecting member element 56 is screwed with a pair of opposingly arranged pressing bolts 59, and these pressing bolts 59 press the pressed portion 62 of the third connecting member element 57, whereby FIG. As shown in A) and (B), the third connecting member element 57 rotates around the pivot shaft 61 so that the third connecting member element 57 is in a direction N perpendicular to the axis of the third connecting member element 57. Tilt is adjusted. Thereby, the direction of the other rotating shafts 8B, 8C, 8E, 8F with respect to one of the adjacent joints 5A to 5F connected by the connecting members 6B, 6C, 6D, 6F, 6G, 6H, the foot part with respect to the joints 5C, 5F The directions of the central axes 9A and 9B of 7A and 7B are adjusted.

  As a result, the rotation axes 8B and 8C and the central axis 9A of the second joint 5B, the third joint 5C, and the foot 7A connected by the second connecting member 6B, the third connecting member 6C, and the fourth connecting member 6D, respectively. Position and orientation, and the respective rotation axes 8E and 8F and the central axis of the second joint 5E, the third joint 5F, and the foot 7B connected by the second connecting member 6F, the third connecting member 6G, and the fourth connecting member 6H It becomes possible to adjust the position and orientation of 9B.

  Furthermore, by using the connecting members 6B to 6D and 6F to 6H configured by the connecting member elements 55, 56 and 57, the spacer 58, the pressing bolt 59 and the like as described above, the connecting member elements 55 to 57 are excessive. Even when a load is applied, as long as these connecting member elements 55 to 57 are not deformed, the positions and orientations of the rotation shafts 8B, 8C, 8E, and 8F of the joints 5B, 5C, 5E, and 5F, and the legs 7A and 7B There is no difference between the positions and orientations of the central axes 9A and 9B. Therefore, when the connecting members 6B to 6D and 6F to 6H are constituted by connecting member elements 55, 56 and 57, a spacer 58, a pressing bolt 59, and the like, the connecting member elements 11A and 11B and fastening shown in FIG. Compared to the case where the bolt 12 is configured, the joints 5B, 5C, 5E, 5F, and feet are also applied when a load greater than the frictional force between the head 12A of the fastening bolt 12 and the connecting member elements 11A, 11B is applied. The portions 7A and 7B can be firmly positioned.

  In the articulated robot, the number of legs and the number of joints of each leg may be different from those in the above-described embodiments, and the correction target is not the legs but performs various operations. The arm part etc. which are provided with a manipulator etc. may be sufficient. Further, each joint may be capable of linear movement in addition to rotation.

  In order to perform the correction work easily, it is desirable that the articulated robot 1 and the correction device 10 of the articulated robot can be easily positioned. For example, an unevenness that allows the articulated robot 1 and the apparatus main body 15 of the correcting device 10 of the articulated robot to be fitted is provided in each, and the apparatus main body 15 is simply installed in the articulated robot 1 so that the unevenness is fitted. A configuration that can complete positioning is conceivable. As an example of this, in each embodiment, the correction device 10 for an articulated robot has been described in which the device body 15 has a frontal portal shape, but is not limited thereto. For example, a column on which the body 2 of the articulated robot 1 is placed on the upper surface is provided as a device body of the correcting device for the articulated robot, and the laser irradiation device 16 is provided on the surface of the column facing the inside of the legs 3 and 4. Etc. may be provided to constitute the correction device 10 for the articulated robot.

1 Articulated robot 2 Torso (robot body)
3, 4 legs (arms)
5A, 5D 1st joint 5B, 5E 2nd joint 6B, 6F 2nd connecting member 8A 1st rotating shaft 8B 2nd rotating shaft 10 Correction device 11A of an articulated robot, 11B Connecting member element 12 Fastening bolt 13 Insertion hole 16A- 16F laser irradiation device (laser device)
17A-17F Photodetector 18 Display device (display means)
20 Articulated Robot Correction Device 21A-21F Reflector 30 Articulated Robot Correction Device 31A-31F Through-hole 41 Photodetector 42 Detection Area 42A First Divided Detection Area 42B Second Divided Detection Area 55 First Connecting Member Element 56 Second connecting member element 57 Third connecting member element 58 Spacer 59 Pressing bolt α Laser light

Claims (10)

A robot main body, and an arm having a first joint rotatable on a first rotation shaft and a second joint rotatable on a second rotation shaft. A multi-joint robot correction device provided closer to the robot body than the second joint,
A laser device that irradiates a predetermined position of the second joint of the multi-joint robot in a reference posture with a laser beam;
A photodetector provided at a position where the laser beam can be detected when the rotation angle of the first joint and the position and orientation of the first rotation axis coincide with the reference posture of the articulated robot;
And a display unit for displaying a detection result of the photodetector. The multi-joint robot correction apparatus according to claim 1, wherein the photodetector is provided at a predetermined position of the second joint. The photodetector can detect the laser beam reflected at a predetermined position of the second joint when the rotation angle of the first joint and the position and orientation of the first rotation axis coincide with the reference posture of the articulated robot. The correction apparatus for an articulated robot according to claim 1, wherein the correction apparatus is provided at various positions. When the rotation angle of the first joint and the position and orientation of the first rotation axis coincide with the reference posture of the articulated robot, the second joint emits laser light applied to a predetermined position of the second joint. Configured to penetrate the second joint,
The multi-joint robot correction apparatus according to claim 1, wherein the photodetector is provided at a position where the laser beam penetrating the second joint can be detected. The light detector is configured such that a detection area for detecting laser light is divided, and a detection position of the laser light is determined based on a difference in intensity of the laser light detected in each of the divided detection areas. The correction apparatus for an articulated robot according to any one of claims 1 to 4, wherein the correction apparatus is an articulated robot. The photodetector has a laser beam reduction / expansion function that reduces or expands the detected laser beam, detects the position of the laser beam over a wide range by reducing the laser beam, and expands the laser beam to expand the laser beam. The correction apparatus for an articulated robot according to any one of claims 1 to 4, wherein the position is detected with high accuracy. The first joint and the second joint of the multi-joint robot are connected by a connecting member in which a plurality of connecting member elements are fastened by a fastening member, and an insertion hole for the fastening member in the connecting member element is the fastening 7. The structure according to claim 1, wherein the position and orientation of the rotation axis of the second joint relative to the first joint are adjustable by being formed larger than the outer diameter of the member. The correction apparatus for articulated robots according to Item. The first joint and the second joint of the multi-joint robot are connected by a connecting member including a plurality of connecting member elements, and a spacer is interposed between the connecting member elements, so that the first joint and the second joint are connected to the first joint. The correction apparatus for an articulated robot according to any one of claims 1 to 6, wherein a position of a rotation axis of the second joint is adjustable. The first joint and the second joint of the multi-joint robot are connected by a connecting member including a plurality of connecting member elements, and the other rotates with respect to one of the adjacent connecting member elements. 9. The correction apparatus for an articulated robot according to claim 8, wherein the direction of the rotation axis of the second joint relative to one joint is adjustable. A robot main body, and an arm having a first joint rotatable on a first rotation shaft and a second joint rotatable on a second rotation shaft. A correction method for an articulated robot provided on the robot body side of the second joint,
Irradiating a laser beam from a laser device to a predetermined position of the second joint of the articulated robot taking a reference posture;
A photodetector provided at a position capable of detecting the laser beam when the rotation angle of the first joint and the position and orientation of the first rotation axis coincide with the reference posture of the articulated robot; Detecting the laser beam;
A correction method for an articulated robot, wherein a rotation angle of the first joint is adjusted so that the light detector appropriately detects the laser light.

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