JP2523932B2 - Correcting method of normal direction of cutting work tool of robot - Google Patents
Correcting method of normal direction of cutting work tool of robotInfo
- Publication number
- JP2523932B2 JP2523932B2 JP2101339A JP10133990A JP2523932B2 JP 2523932 B2 JP2523932 B2 JP 2523932B2 JP 2101339 A JP2101339 A JP 2101339A JP 10133990 A JP10133990 A JP 10133990A JP 2523932 B2 JP2523932 B2 JP 2523932B2
- Authority
- JP
- Japan
- Prior art keywords
- cutting
- work
- work tool
- cutting work
- normal direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005520 cutting process Methods 0.000 title claims description 45
- 238000000034 method Methods 0.000 title claims description 6
- 238000001514 detection method Methods 0.000 claims description 14
- 238000003754 machining Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は、切断作業に用いるロボットの切断作業ツー
ルの法線方向補正方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for correcting a normal direction of a cutting work tool of a robot used for cutting work.
従来の技術 近年、三次元ワークの切断作業の需要が増え、比較的
安価で、かつ設置面積の少ない関節型ロボットによる三
次元切断に対する期待が高まっている。2. Description of the Related Art In recent years, the demand for cutting three-dimensional workpieces has increased, and expectations for three-dimensional cutting by an articulated robot that is relatively inexpensive and has a small installation area are increasing.
従来、一般に切断加工の場合、切断作業ツール（例：
レーザヘッド，切断トーチ等）の軸心とワークの法線方
向とのずれ、およびワークと切断作業ツールの軸心方向
の距離のずれは加工結果に大きく影響する。このため二
次元の切断加工ではワークと切断作業ツールの軸心方向
の距離を補正する装置は一般的に使用されているが、対
象ワークが二次元であるために切断作業ツールのワーク
に対する法線方向補正は一般に行われていないのが現状
である。Conventionally, in the case of cutting in general, a cutting work tool (eg:
The deviation of the axial center of the laser head, cutting torch, etc. and the normal direction of the work, and the deviation of the distance between the work and the cutting work tool in the axial direction greatly affect the machining result. Therefore, in two-dimensional cutting, a device that corrects the distance between the work and the cutting tool in the axial direction is generally used, but since the target work is two-dimensional, the normal to the work of the cutting work tool is used. At present, direction correction is not generally performed.
発明が解決しようとする課題 従来の二次元加工のようにワークと切断作業ツールの
軸心方向の距離を補正する装置だけを関節型ロボットに
よる三次元の切断加工に適応した場合、切断作業ツール
の軸心とワークの法線方向とのずれはティーチングおよ
びワークの精度に依存するため、ワークが複雑になれば
なるほど、ティーチング作業は難しくなり、ワークの精
度も高いものが要求されることになり、これらが三次元
切断加工の大きな課題であるとともに、三次元切断加工
の普及の障害の一因となっていた。DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention When a device that corrects a distance between a workpiece and a cutting work tool in the axial direction as in conventional two-dimensional machining is applied to three-dimensional cutting work by an articulated robot, the cutting work tool Since the deviation between the axis and the normal direction of the work depends on the accuracy of teaching and the work, the more complicated the work, the more difficult the teaching work becomes, and the work with high accuracy is required. These are major problems in the three-dimensional cutting process, and have also been a cause of obstacles to the spread of the three-dimensional cutting process.
本発明は上記課題を解決するもので、三次元切断加工
におけるワーク精度に対する要求を低下させ、ティーチ
ング作業を容易にするとともに良好な切断加工結果が得
られるロボットの切断作業ツールの法線方向補正方法を
提案することを目的としている。The present invention solves the above-mentioned problems, and reduces the requirement for work accuracy in three-dimensional cutting, facilitates teaching work, and corrects the normal direction of the cutting work tool of a robot that can obtain good cutting results. The purpose is to propose.
課題を解決するための手段 本発明は上記目的を達成するために、切断作業ツール
の軸心を回転中心として非接触距離センサーの検出点を
回転させ、検出点の回転角に対するワークまでの距離を
上記非接触距離センサーで測定し、得られた距離情報お
よび回転角度情報を用いて切断作業ツールの軸心とワー
クの法線方向とのずれを算出し、算出されたずれ量を用
いて切断作業ツールの法線方向を補正するものである。Means for Solving the Problems In order to achieve the above object, the present invention rotates a detection point of a non-contact distance sensor about an axis of a cutting work tool as a rotation center, and determines a distance to a workpiece with respect to a rotation angle of the detection point. Measured with the non-contact distance sensor, calculate the deviation between the axis of the cutting tool and the normal direction of the work using the obtained distance information and rotation angle information, and use the calculated deviation amount to perform the cutting work This is to correct the normal direction of the tool.
作用 上記した方法により本発明は、比較的単純なアルゴリ
ズムで、切断作業ツールの軸心とワークの法線方向との
ずれを三次元で高速かつ正確に算出し、補正を加えるこ
とができるため、三次元切断加工におけるワーク精度に
対する要求を低下させ、ティーチング作業を容易にする
とともに良好な切断加工結果が得られるものである。By the method described above, the present invention is a relatively simple algorithm, the deviation between the axial center of the cutting work tool and the normal direction of the work can be calculated quickly and accurately in three dimensions, and correction can be added. The requirements for work accuracy in three-dimensional cutting are reduced, teaching work is facilitated, and good cutting results are obtained.
実施例 以下、本発明の一実施例について、第１図を参照しな
がら説明する。Embodiment An embodiment of the present invention will be described below with reference to FIG.
第１図は、本発明の補正方法を実施するための装置の
一実施例の斜視図である。FIG. 1 is a perspective view of an embodiment of an apparatus for carrying out the correction method of the present invention.
図において、１は切断作業ツール、２はその切断作業
ツール１の軸心を回転中心として検出点が回転する非接
触距離センサー、３は切断作業ツール１により切断され
るワーク、４はワーク３上におけるセンサー１の検出点
の軌跡、５は切断作業ツール１を取付けている多関節ロ
ボットの手首部である。またＯはワーク３上における加
工点であり、ワーク３の加工点Ｏにおけるα−α′−Ｏ
平面上の法線Ｏ−Ｗは、切断作業ツール１の軸心Ｏ−
Ｏ′に対してβだけずれている。非接触距離センサー２
は切断作業ツール１の軸心Ｏ−Ｏ′を中心として矢印Ａ
のように回転しており、検出点の回転半径をｒとする
と、検出αの軌跡４は矢印Ｂのように円弧を描く。In the figure, 1 is a cutting work tool, 2 is a non-contact distance sensor whose detection point rotates about the axis of the cutting work tool 1, 3 is a work cut by the cutting work tool 1, and 4 is a work 3 The locus 5 of the detection point of the sensor 1 in 5 is the wrist of the articulated robot to which the cutting work tool 1 is attached. O is a machining point on the work 3, and α-α'-O at the machining point O on the work 3.
The normal line OW on the plane is the axis O- of the cutting work tool 1.
It is offset by β with respect to O '. Non-contact distance sensor 2
Is an arrow A centering on the axis O-O 'of the cutting work tool 1.
And the radius of rotation of the detection point is r, the locus 4 of the detection α draws an arc as indicated by arrow B.
今、点αにおける検出距離をｙ、点αに対して180度
ずれた位置α′における検出距離をｙ′とし、その差を
Δｙとすると、ワーク３の加工点Ｏにおけるα−α′−
Ｏ′平面上での法線Ｏ−Ｗと、切断作業ツール１の軸心
Ｏ−Ｏ′との傾きβは、 β＝tan-1（ΔY/r） で求められる。これを切断作業ツール１の軸心Ｏ−Ｏ′
を中心に360度、順次行って行けば三次元のワーク３の
加工点Ｏにおける法線Ｏ−Ｗと、切断作業ツール１の軸
心Ｏ−Ｏ′のずれを算出することができ、この算出され
たずれ量を切断作業ツール１の法線方向の補正に利用す
ることができる。Assuming that the detection distance at the point α is y, the detection distance at the position α ′ shifted by 180 degrees from the point α is y ′, and the difference is Δy, α−α′− at the processing point O of the work 3
The inclination β between the normal line OW on the O ′ plane and the axis OO ′ of the cutting work tool 1 is obtained by β = tan −1 (ΔY / r). This is the axis O-O 'of the cutting work tool 1.
If it is carried out in 360 degrees around the center, the deviation between the normal line OW at the processing point O of the three-dimensional work 3 and the axis O-O 'of the cutting work tool 1 can be calculated. The deviation amount thus obtained can be used for correcting the normal direction of the cutting work tool 1.
なお、上記実施例に示した第１図の例は一例であり、
例えば、検出点の回転は第１図に示したように非接触距
離センサー自体を回転させなくても光学式センサーのよ
うな場合にはミラーを動作させることによって検出点を
回転させることができ、これによって実現できることは
明らかであり、また検出のアルゴリズムも三角関数によ
る演算を行えば、検出点αおよびα′は必ずしも180度
ずれている必要はないことは言うまでもない。The example of FIG. 1 shown in the above embodiment is an example,
For example, as shown in FIG. 1, the detection point can be rotated by operating a mirror in the case of an optical sensor without rotating the non-contact distance sensor itself, as shown in FIG. It is obvious that this can be realized, and it goes without saying that the detection points α and α ′ do not necessarily need to be shifted by 180 degrees if the detection algorithm is also calculated by a trigonometric function.
発明の効果 以上の実施例から明らかなように本発明によれば、比
較的単純なアルゴリズムで、切断作業ツールの軸心とワ
ークの法線方向とのずれを高速かつ正確に算出し、補正
を加えることができ、したがって三次元切断加工におけ
るワーク精度に対する要求を低下させ、ティーチング作
業を容易にするとともに良好な切断加工結果が得られ、
多関節ロボットによる三次元切断の普及に大きく貢献で
きるものである。EFFECTS OF THE INVENTION As is apparent from the above embodiments, according to the present invention, the shift between the axial center of the cutting work tool and the normal line direction of the work is calculated quickly and accurately by a relatively simple algorithm, and correction is performed. Therefore, the requirement for work accuracy in three-dimensional cutting can be reduced, teaching work can be facilitated, and good cutting results can be obtained.
This can greatly contribute to the spread of three-dimensional cutting by articulated robots.
第１図は本発明による補正方法を実施するための装置の
一実施例の斜視図である。 １……切断作業ツール、２……非接触距離センサー、３
……ワーク、４……センサーによる検出点の軌跡、５…
…ロボットの手首部。FIG. 1 is a perspective view of an embodiment of an apparatus for carrying out the correction method according to the present invention. 1 ... Cutting tool, 2 ... Non-contact distance sensor, 3
…… Workpiece, 4 …… Sensor detection locus, 5 ・ ・ ・
... the wrist of the robot.
Claims (1)
接触距離センサーの検出点を回転させ、検出点の回転角
に対するワークまでの距離を上記非接触距離センサーで
測定し、得られた距離情報および回転角度情報を用いて
切断作業ツールの軸心とワークの法線方向とのずれを算
出し、算出されたずれ量を用いて切断作業ツールの法線
方向を補正することを特徴とするロボットの切断作業ツ
ールの法線方向補正方法。1. A distance obtained by rotating a detection point of a non-contact distance sensor about an axis of a cutting work tool and measuring a distance to a workpiece with respect to a rotation angle of the detection point by the non-contact distance sensor. It is characterized in that the deviation between the axis of the cutting work tool and the normal direction of the work is calculated using the information and the rotation angle information, and the normal direction of the cutting work tool is corrected using the calculated deviation amount. A method for correcting the normal direction of the cutting work tool of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2101339A JP2523932B2 (en) | 1990-04-17 | 1990-04-17 | Correcting method of normal direction of cutting work tool of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2101339A JP2523932B2 (en) | 1990-04-17 | 1990-04-17 | Correcting method of normal direction of cutting work tool of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03297590A JPH03297590A (en) | 1991-12-27 |
| JP2523932B2 true JP2523932B2 (en) | 1996-08-14 |
Family
ID=14298082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2101339A Expired - Lifetime JP2523932B2 (en) | 1990-04-17 | 1990-04-17 | Correcting method of normal direction of cutting work tool of robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2523932B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5135672B2 (en) | 2005-09-30 | 2013-02-06 | 日産自動車株式会社 | Laser irradiation state detection method and laser irradiation state detection system |
| CN105128008B (en) * | 2015-08-06 | 2017-08-11 | 珞石（北京）科技有限公司 | A kind of robot motion's flexibility ratio decision method based on the ellipsoid of inertia |
| CN116499395B (en) * | 2023-04-28 | 2025-07-25 | 哈尔滨理工大学 | Double-acting curved surface piece normal vector tracking presser foot device and detection method |
-
1990
- 1990-04-17 JP JP2101339A patent/JP2523932B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03297590A (en) | 1991-12-27 |
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