JPS58171291A - Robot tilt angle detection device - Google Patents
Robot tilt angle detection deviceInfo
- Publication number
- JPS58171291A JPS58171291A JP5333382A JP5333382A JPS58171291A JP S58171291 A JPS58171291 A JP S58171291A JP 5333382 A JP5333382 A JP 5333382A JP 5333382 A JP5333382 A JP 5333382A JP S58171291 A JPS58171291 A JP S58171291A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- arm
- inclination angle
- hand
- detection device
- 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.)
- Pending
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は、据付精度の向上と据付時間の短縮とをはか
ったロボットの傾斜角度検出装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot inclination angle detection device that improves installation accuracy and shortens installation time.
まず、第１図、第２図によって従来のロボットを説明す
る。第１図、第２図中、１はロボット本体、２はこのロ
ボット本体ｌに支持されて垂直方向に直線往復動する昇
降体、３は昇降体２に支持されて水平面を往復回動する
第１アーム、４は第１アーム３の先端部に支持されて水
平面を往復回動する第２アーム、５は第２アーム４の先
端部に垂直な軸６によって支持されてこの軸６回りに往
復回動するハンド、７はハンド５の先端部に設けられた
グリッパ、８はロボット本体１の据付面である。First, a conventional robot will be explained with reference to FIGS. 1 and 2. In FIGS. 1 and 2, 1 is a robot body, 2 is an elevating body supported by the robot body l and reciprocated in a vertical direction, and 3 is an elevating body supported by the elevating body 2 and reciprocating in a horizontal plane. A second arm 1 and 4 is supported by the tip of the first arm 3 and rotates back and forth on a horizontal plane; 5 is supported by a shaft 6 perpendicular to the tip of the second arm 4 and rotates back and forth around this axis 6. The rotating hand 7 is a gripper provided at the tip of the hand 5, and 8 is an installation surface of the robot body 1.
上述のように構成されたロボットは、据付時にハンド５
の軸６が垂直方向すなわちアーム３，４の直線往復動方
向と平行な方向に高精度に一致させることが必要である
。しかし、従来は、ロボット本体ｌの水平面すなわち据
付面８に対する傾斜角度を水準器などを用いて検出して
ロボットを据付けていたため、上記ロボット本体ｌの据
付部と第２のアーム４の先端部に支持されているハンド
５の軸６までの距離がかなりあることなどにより。The robot configured as described above has hand 5 when installed.
It is necessary that the axes 6 of the arms 3 and 4 coincide with each other with high accuracy in the vertical direction, that is, in the direction parallel to the linear reciprocating direction of the arms 3 and 4. However, in the past, the robot was installed by detecting the inclination angle of the robot body l with respect to the horizontal plane, that is, the installation surface 8 using a spirit level. This is due to the fact that there is a considerable distance between the supported hand 5 and the axis 6.
ロボット本体１の据付角度の僅かな誤差が拡大されてハ
ンド５の軸６の傾斜となり、この軸６を高精度に垂直に
することがむずかしく、また据付作業に長時間を要する
欠点があった。A slight error in the installation angle of the robot body 1 is magnified and causes the axis 6 of the hand 5 to tilt, making it difficult to vertically align the axis 6 with high precision and also requiring a long time for installation work.
この発明は、ロボットのハンド部に変位計を取付けてハ
ンドの軸方向の傾斜角度を直接的に検出して表示するこ
とにより、上述した従来の欠点を解消して、高い据付精
度でしかも短時間でロボットを据付けられるようにした
ロボットの傾斜角度検出装置を提供することを目的とし
ている。This invention solves the above-mentioned conventional drawbacks by attaching a displacement meter to the robot's hand and directly detecting and displaying the axial tilt angle of the hand. The object of the present invention is to provide a robot inclination angle detection device that allows the robot to be installed in the same direction.
以下、この発明の一実施例を第３図から第６図によって
説明する。第３図、第４図中、第１図。An embodiment of the present invention will be described below with reference to FIGS. 3 to 6. Figures 3 and 4, and Figure 1.
第２図と同一符号は同一または相当部分を示し、また、
９は変位計であり、この変位計９は第２図に示すハンド
６をこれの軸５と共に取外した後に、第２アーム４の先
端部に着脱可能に固定され、ノ・ンドの軸方向の垂直方
向に対する傾斜角度を検出し、電気信号として出力する
従来公知のものであり、第６図に示すように傾斜角度に
よって出力が変化し、傾斜角度が±ｌＯ°の範囲で出力
電圧が直線的に変化するものである。したがって、直線
的に出力が変化する部分を用いれば傾斜角度を高精度に
測定できる。また、第５図はこの実施例の傾斜角度検出
装置のブロック図であり、第５図中、９は上記変位計、
１０は変位計９からの出力を傾斜角度に変換する傾斜角
度検出回路、１１は上記検出回路１０の出力をデジタル
に変換する変換回路、１２は上記変換回路１１の出力に
応じた傾斜角度を表示する表示器であり、上記両回路１
０゜１１および表示器１２はロボットの適宜の部分に内
蔵させ、あるいは着脱可能に取付けるものとし、表示器
１２はロボット本体１の見易い部位に配置することが好
ましい。The same symbols as in FIG. 2 indicate the same or corresponding parts, and
9 is a displacement meter, and this displacement meter 9 is removably fixed to the tip of the second arm 4 after removing the hand 6 shown in FIG. 2 together with its shaft 5. This is a conventionally known method that detects the tilt angle with respect to the vertical direction and outputs it as an electrical signal.As shown in Figure 6, the output changes depending on the tilt angle, and the output voltage is linear within the range of ±10°. It is something that changes. Therefore, by using a portion where the output changes linearly, the inclination angle can be measured with high accuracy. Moreover, FIG. 5 is a block diagram of the inclination angle detection device of this embodiment, and in FIG. 5, 9 is the displacement meter,
10 is a tilt angle detection circuit that converts the output from the displacement meter 9 into a tilt angle; 11 is a conversion circuit that converts the output of the detection circuit 10 to digital; 12 is a display that indicates the tilt angle according to the output of the conversion circuit 11; Both circuits 1
The 0° 11 and the display 12 are built into appropriate parts of the robot or are removably attached, and it is preferable that the display 12 is placed in an easily visible part of the robot body 1.
次に、上述のように構成された実施例の傾斜角度検出装
置による傾斜角度検出動作の一例について説明する。第
６図に示すように、まず、ロボットの第１．第２アーム
３，４を回動させて、ハンドの軸方向が垂直なＺ軸に対
して水平面のＸ方向に傾いていれば傾斜角度が変化し変
位計９の出力が変化し、この変化が表示器１１に表示さ
れるので、これによってロボット本体１の据付面８に対
するＸ方向の傾斜角度を補正して、ハンド６の軸力向の
傾斜角度が０°になるようにする。次に、同様な操作で
水平面のＹ方向に対する傾斜角度が０°になるようにす
る。Next, an example of the tilt angle detection operation by the tilt angle detection device of the embodiment configured as described above will be described. As shown in FIG. 6, first, the robot's first. If the second arms 3 and 4 are rotated and the axial direction of the hand is tilted in the X direction of the horizontal plane with respect to the vertical Z axis, the tilt angle changes and the output of the displacement meter 9 changes, and this change Since it is displayed on the display 11, the inclination angle of the robot main body 1 in the X direction with respect to the installation surface 8 is corrected so that the inclination angle of the hand 6 in the axial force direction becomes 0°. Next, by performing a similar operation, the inclination angle of the horizontal plane with respect to the Y direction is set to 0°.
そして、アームの軸方向を垂直方向に設定して、ロボッ
ト本体１を据付面８に据付け、その後に変位計９を第２
アーム４の先端部から外して、ハンド６と軸５に変換す
る（第２図参照）。Then, set the axial direction of the arm vertically, install the robot body 1 on the installation surface 8, and then install the displacement meter 9 on the second
Remove it from the tip of the arm 4 and convert it into a hand 6 and shaft 5 (see Figure 2).
なお、この実施例のロボットの構成は、第１図。The configuration of the robot of this embodiment is shown in FIG. 1.
第２図に示すものと同様であるから説明を省略する０
上記実施例では第１．第２アームを備えたロボットにつ
いて述べたが、この発明は１本のアームのものにも適用
できる。また、上記実施例では水平な据付面にロボット
本体を据付ける場合について述べｋが、この発明は垂直
な据付面にロボット本体を据付けるものにも適用できる
。さらに、上記実施例では変位計とノ・ンドとを変換し
てアームに敞付けるようにしたが、この発明は変位計な
ノ１ンドの軸またはこの軸に近接したアームの先端部に
取付けてもよく、これらの場合には必ずしも着脱可能に
取付けなくてもｊ：＜、上記表示器はアームの軸の傾斜
を補正するのに必要なロボット本体の据付時の補正角度
を表示するようにしてもよい。Since it is the same as that shown in FIG. 2, the explanation will be omitted. In the above embodiment, the first. Although a robot with a second arm has been described, the invention can also be applied to a robot with one arm. Furthermore, although the above embodiment describes the case in which the robot body is installed on a horizontal installation surface, the present invention can also be applied to a case in which the robot body is installed on a vertical installation surface. Furthermore, in the above embodiment, the displacement gauge and the node were converted and attached to the arm, but in this invention, the displacement meter is attached to the axis of the node or the tip of the arm near this axis. In these cases, the display does not necessarily have to be removably attached.The above display is designed to display the correction angle when the robot body is installed, which is necessary to correct the inclination of the axis of the arm. Good too.
以上説明したとおり、この発明は、ワークの把持などを
行うアーム部に変位計を設け、アームの軸方向の傾斜を
検出してロボット本体を据付けるようにしたので、高精
度にロボットを据付けることができると共に、上記変位
計が検出した傾斜角度か表示する手段な備えているので
、この手段をロボット本体に配置するなどにより、据付
部の近くで上記アームの傾斜角度を知ることができ、ロ
ボットの据付を短時間で容易に行うことができるという
効果がある。As explained above, in this invention, a displacement meter is installed in the arm that grips the workpiece, and the robot body is installed by detecting the axial inclination of the arm, so the robot can be installed with high precision. In addition, since it is equipped with a means for displaying the inclination angle detected by the displacement meter, by arranging this means on the robot body, it is possible to know the inclination angle of the arm near the installation part, This has the effect that the robot can be installed easily in a short time.
第１図は従来のロボットを示す平面図、第２図は同側面
図、第３図はこの発明の一実施例による傾斜角度検出装
置を備えたロボットの平面図、第４図は同側面図、第５
図は同実施例の傾斜角度検出装置のブロック図、第６図
は変位計の作用説明図である。
ｌ・・・ロボット本体、２・・・昇降体、３．４・・・
第１゜第２アーム、５・・・軸、６・・・ハンド、８・
・・据付面、９°°°変位計、１０°°・傾斜角度検出
回路、１１・・・変換回路、１２・・・表示器。
なお、図中同一符号は同一または相当部分を示す０
代理人 葛野信−
？１？！１
予 ２ 閃FIG. 1 is a plan view showing a conventional robot, FIG. 2 is a side view of the same, FIG. 3 is a plan view of a robot equipped with an inclination angle detection device according to an embodiment of the present invention, and FIG. 4 is a side view of the same. , 5th
The figure is a block diagram of the inclination angle detection device of the same embodiment, and FIG. 6 is an explanatory diagram of the operation of the displacement meter. l...Robot body, 2...Elevating body, 3.4...
1st degree 2nd arm, 5... axis, 6... hand, 8...
... Installation surface, 9°° displacement meter, 10°°/tilt angle detection circuit, 11... conversion circuit, 12... indicator. In addition, the same reference numerals in the figures indicate the same or corresponding parts. 1? ! 1 preliminary 2 flash
Claims (1)
つこの直線往復動方向と直交する平面を移動するアーム
を支持し、アームの先端部にアームの直線往復動方向と
平行な軸を有するハンドを支持したロボットにおいて、
上記ハンド部に取付けられてアームの直線往復動方向に
対するハンドの軸方向の傾斜角度を検出する変位計と、
この変位計が検出した傾斜角度を表示する手段とを備え
たことを特徴とするロボットの傾斜角度検出装置。The robot body supports an arm that reciprocates linearly in the vertical or horizontal direction and moves in a plane perpendicular to the direction of the linear reciprocating movement, and a hand having an axis parallel to the direction of the linear reciprocating movement of the arm at the tip of the arm. In the supported robot,
a displacement meter that is attached to the hand section and detects the inclination angle of the hand in the axial direction with respect to the linear reciprocating direction of the arm;
A robot inclination angle detection device comprising means for displaying the inclination angle detected by the displacement meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5333382A JPS58171291A (en) | 1982-03-31 | 1982-03-31 | Robot tilt angle detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5333382A JPS58171291A (en) | 1982-03-31 | 1982-03-31 | Robot tilt angle detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58171291A true JPS58171291A (en) | 1983-10-07 |
Family
ID=12939807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5333382A Pending JPS58171291A (en) | 1982-03-31 | 1982-03-31 | Robot tilt angle detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58171291A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013517505A (en) * | 2010-01-20 | 2013-05-16 | ファロ テクノロジーズ インコーポレーテッド | Method for assessing the stability of articulated arm coordinate measuring machine installation using an inclinometer |
| US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
| US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
| US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
| USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
| US9329271B2 (en) | 2010-05-10 | 2016-05-03 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
| US9372265B2 (en) | 2012-10-05 | 2016-06-21 | Faro Technologies, Inc. | Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration |
| US9417056B2 (en) | 2012-01-25 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| US9417316B2 (en) | 2009-11-20 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
| US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
| US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
| US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
| US10281259B2 (en) | 2010-01-20 | 2019-05-07 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
-
1982
- 1982-03-31 JP JP5333382A patent/JPS58171291A/en active Pending
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
| US9417316B2 (en) | 2009-11-20 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
| US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
| US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
| US10281259B2 (en) | 2010-01-20 | 2019-05-07 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
| US10060722B2 (en) | 2010-01-20 | 2018-08-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| JP2013517505A (en) * | 2010-01-20 | 2013-05-16 | ファロ テクノロジーズ インコーポレーテッド | Method for assessing the stability of articulated arm coordinate measuring machine installation using an inclinometer |
| US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9684078B2 (en) | 2010-05-10 | 2017-06-20 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
| US9329271B2 (en) | 2010-05-10 | 2016-05-03 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
| US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
| US9417056B2 (en) | 2012-01-25 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| US9618620B2 (en) | 2012-10-05 | 2017-04-11 | Faro Technologies, Inc. | Using depth-camera images to speed registration of three-dimensional scans |
| US9739886B2 (en) | 2012-10-05 | 2017-08-22 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US9746559B2 (en) | 2012-10-05 | 2017-08-29 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
| US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
| US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
| US10203413B2 (en) | 2012-10-05 | 2019-02-12 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US9372265B2 (en) | 2012-10-05 | 2016-06-21 | Faro Technologies, Inc. | Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration |
| US10739458B2 (en) | 2012-10-05 | 2020-08-11 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
| US11035955B2 (en) | 2012-10-05 | 2021-06-15 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
| US11112501B2 (en) | 2012-10-05 | 2021-09-07 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US11815600B2 (en) | 2012-10-05 | 2023-11-14 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPS58171291A (en) | Robot tilt angle detection device | |
| CN110103229B (en) | Gravity compensation method and system for tool arranged at tail end of robot | |
| US20010016786A1 (en) | Tool position measurement method, offset measurement method, reference member and bonding apparatus | |
| CN109227551B (en) | A hand-eye coordinate conversion method for visual positioning robot | |
| JP2002319028A (en) | Image processing method and device therefor, and bonding device | |
| US5526282A (en) | Alignment analyzer with graphical alignment tolerance display | |
| CN110370083A (en) | Method for measuring pose error of workpiece machined by strong cutting teeth | |
| CN110749257B (en) | Measurement datum point non-coplanar error compensation method of pull-wire type measurement system | |
| CN110645935A (en) | Accurate calibration method for installation offset of integrated displacement sensor of numerical control rotating shaft | |
| JPH0746050B2 (en) | Three-dimensional measuring device | |
| JPH05187868A (en) | Calculation method of straightness error and correction method of measured value in detector feed direction of rotation-direct-acting function type circularity measurement machine | |
| JPS62231104A (en) | Strain measurement system for curved surfaces | |
| CN216081447U (en) | Bevel edge auxiliary gauge block | |
| JPS59205282A (en) | Method of correcting origin of multi-joint robot | |
| JPH04372342A (en) | Surface plate distortion correction device and surface plate distortion correction method | |
| JPH0131565B2 (en) | ||
| JP3179634B2 (en) | Shape measuring instruments | |
| RU2011153C1 (en) | Method of calibrating measuring head | |
| JPS61203253A (en) | table drive device | |
| KR200181783Y1 (en) | Jig for measuring curverate of curve plate | |
| JPH02210206A (en) | Center indexing method for circle | |
| JPH06309436A (en) | Method for detecting position of ic socket for qfp type ic | |
| CN117484277A (en) | Special gauge for precision of inclined spindle machine tool and checking method | |
| JP2508411B2 (en) | Acceleration sensor- | |
| JPS63130292A (en) | Image measuring instrument |