JPH0376276B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention provides at least two
The present invention relates to a method for correcting the position of a tool, which is applied when performing work at at least two work points on a workpiece using a single tool.

(Prior Art) Conventionally, for example, as an automatic liquid supply device for multiple liquid supply ports for radiator liquid and cleaning liquid provided in the engine room of a vehicle, a plurality of robots each equipped with a dedicated liquid supply nozzle are used. It is known that each robot is operated according to teaching data to insert each liquid supply nozzle into each predetermined liquid supply port to perform liquid supply work.

However, this increases equipment costs and requires the robots to operate sequentially to avoid interference between robots, resulting in a decrease in work efficiency.

In this case, it is advantageous to attach multiple liquid supply nozzles to a tool holder attached to a robot, etc. so that liquid can be supplied to multiple liquid supply ports simultaneously, reducing equipment costs and improving work efficiency. .

(Problem to be solved by the invention) By the way, as mentioned above, multiple tools (liquid supply nozzles) corresponding to multiple work points (liquid supply ports) on a workpiece (automobile) are attached to a single tool holder to automatically When performing work, even if the position of one work place is detected and the tool holder is positioned so that the tool matches it, due to relative positional deviation between the work places, other tools may be placed in other work positions. The problem is how to correct the tool position so that each tool matches each work location. As one solution to this problem, each tool is mounted on a tool holder so that its position can be adjusted in two orthogonal directions, and a visual sensor is installed to detect the position of each work area, and the position of each tool is determined by the signal from the sensor. Although it is conceivable to correct it, this increases the number of objects to be controlled, making the control system complicated and expensive.Furthermore, it is necessary to provide a position adjustment mechanism for each tool, which complicates the structure of the tool holder.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for correcting the position of a tool without causing such problems.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides work in at least two working areas of a workpiece using at least two tools attached to a tool holder. 2 that engages each of the two work areas.
Using a measuring frame to which two locating members are attached, one of the locating members that engages with one of the locating members is movable in the connection direction of the two locating members with respect to the measuring frame. Detects the amount of displacement of the measuring frame and the amount of displacement of one of the locating members when the locating member is engaged with both work areas, and corrects the position of the tool holder according to the displaced position of the measuring frame. At the same time, one of the two tools, which performs work at the one work location, is displaced with respect to the tool holder in the connection direction of the two tools in accordance with the displacement position of the one locating member. It is characterized by

(Function) If both locating members are engaged with both work points,
The measurement frame moves so that the connection between the two locating members matches the layout line of the work area drawn between the two work areas, and the position of the measurement frame is adjusted to the position of the other locating member provided at the fixed position of the measurement frame. It is determined uniquely according to the position of the other work place to be engaged and the inclination of the layout line, and thus, if the position of the tool holder is corrected according to the displacement amount of the measurement frame, the other work place is engaged with the other work place. It is possible to match the two tools and match the connections of both tools to the layout line.

Further, one of the locating members moves in the wiring direction according to the distance between the two work points, and if one tool is displaced in the wiring direction of both tools according to the displacement amount of the one locating member, the locating member can be moved in the wiring direction. One of the tools moves along the layout line to a position that matches one of the work locations, so that each tool can eventually be matched to each work location.

Here, the braking target for the above-mentioned position correction is only one tool added to the tool holder, which is originally the control target, and the moving direction of the tool is only the connecting direction of both tools. Even if there is a problem, the control system can be simplified, and the structure of the tool holder can also be simplified.

(Example) Referring to Fig. 1, 1 is a car as a workpiece, 2
1 shows a robot placed in front of the set position of the automobile 1, and the robot 2 connects a first fluid supply port 1a for radiator fluid and a second fluid supply port for power steering oil, which are located in the engine compartment of the vehicle 1. 1b and the third liquid supply port 1c for cleaning liquid are used as working locations to supply liquid to these liquid supply ports 1a, 1b, and 1c.

The robot 2 has a long rail 3 in the front and back direction.
A robot arm 5 that can swing vertically via a swivel base 4 is provided on a slide base 3 that can freely move back and forth along the directions a and 3a, and a wrist 6 that is always held in a horizontal position is attached to the tip of the arm 5. A tool holder 8 is mounted on the wrist 6 via a vertical support shaft 7, and as shown in FIGS. 1st to 3rd
It consists of liquid supply nozzles 9 ₁ , 9 ₂ , and 9 ₃ which are each mounted vertically movably by a unit cylinder 9a.
The operation of the robot 2 causes the tool holder 8 to be connected to the respective nozzles 9 ₁ , 9 ₂ , 9 ₃ through the respective liquid supply ports 1 a, 1 b,
1c, and in this state, move each nozzle 9 ₁ , 9 ₂ , 9 ₃ downward and insert it into each liquid supply port 1 a , 1 b , 1 c ,
Now performs liquid supply work.

The nozzles 9 ₁ , 9 ₂ , 9 ₃ are suspended via rubber mounts 9 d from a lifting frame 9 c connected at both upper and lower ends to both ends of a pair of piston rods 9 b and 9 b passing through each unit cylinder 9 a. It will be established.

By the way, the positional accuracy of these fluid supply ports 1a, 1b, and 1c with respect to the vehicle body is not very high, and there may be a deviation in their relative positional relationship, especially when the first and second ports are located far apart. Liquid supply port 1
The amount of relative positional deviation between a and 1b may become so large that it cannot be absorbed by the compliance provided by the rubber mount 9d.
It is necessary to correct the positions so that both the first and second liquid supply nozzles 9 ₁ and 9 ₂ match a and 1b.

Therefore, in the illustrated example, a measurement frame 11 is prepared with two first and second locating members 10 ₁ and 10 ₂ that engage with both the first and second liquid supply ports 1a and 1b, respectively. The measuring frame 11 is freely movably mounted on the tool holder 8, and one of the locating members 10 ₁ and 10 ₂ , for example, the first locating member 10 ₁ , is connected to the measuring frame 11 by connecting the locating members 10 ₁ to the measuring frame 11. Before moving the tool holder 8 to the liquid supply position, both the locating members 10 ₁ , 1
0 ₂ is engaged with both the liquid supply ports 1a and 1b, the displacement amount of the measuring frame 11 and the displacement amount of the first locating member 10 ₁ at this time are detected, and the displacement amount of the first locating member 10 1 is detected. The position of the tool holder 8 is displaced from the taught liquid supply position according to the amount of displacement of the measuring frame 11, and the first liquid supply nozzle ₉₁ is moved from the taught liquid supply position to the tool holder 8.
In contrast, the first liquid supply nozzle 9 ₁ and the second liquid supply nozzle 9 ₂
The first liquid supply nozzle 9 ₁ is movable in the direction of the connection line b, and the first liquid supply nozzle 9 1 is displaced in accordance with the amount of displacement of the first locating member 10 ₁ .

To explain this in more detail, on the tool holder 8,
As shown in FIGS. 5 and 6, a first slider 12a that is slidable in the lateral direction, that is, the X-axis direction, and a second slider 12b that is slidable in the front-rear direction, that is, the Y-axis direction, on the first slider 12a. A cross slider 12 is provided, and a measurement axis 1 is mounted on the second slider 12b.
3 was set upright, and the measuring frame 11 was pivotally supported on the measuring shaft 13 by a sleeve 11a at its root, and a pinion 14b was attached to the tool holder 8 to engage with a rack 14a fixed to the first slider 12a. X
an axial displacement detector 14 and the first slider 12
As shown in FIG. 7, a displacement detector 15 in the Y-axis direction is attached with a pinion 15b that engages with a rack 15a fixed to the second slider 12b, and a displacement detector 15 in the Y-axis direction is attached to the second slider 12b, as shown in FIGS. As shown in FIG. 3, a displacement detector 16 in the rotational direction of the measurement frame 11 is attached to the sleeve 11a and has a rod 16b that comes into contact with a fixed lever 16a. 8
The position is now corrected.

Note that the first and second locating members 10 of the measurement axis 13
₁ and 10 ₂ is the positional relationship between the support shaft 7 and the first
The positions of the second liquid supply nozzles 9 ₁ and 9 ₂ are A, B, C,
Assuming that the positions of the measurement axis 13 and both locating members 10 ₁ and 10 ₂ are A' and B'C', ∠ACB=∠A'C'B',
= A'C' , and positioning cylinders 17 are provided on both sides of the root of the measuring frame 11, as shown in Figure 4, to which taper pins 17b that fit into the positioning holes 17a of the tool holder 8 are attached. pin 17b
By fitting into the hole 17a, the measuring frame 11 can be freely positioned in a fixed position with respect to the tool holder 8 so that the connection a is parallel to the connection b. The second liquid supply nozzle ₉₂ is moved to the predetermined measurement position determined and taught by the operation, and the second
Align the locating members 10 ₂ and, based on this state, align the locating members 10 ₁ and 10 ₂ with both liquid supply ports 1.
detect the displacement Δx, Δy of the measurement frame 11 in the X-axis direction and the Y-axis direction and the rotational displacement Δθ of the measurement frame 11 around the measurement axis 13 when engaged with the measurement frame 11 a and 1b. I did it like that. According to this, the tool holder 8
△x in the X-axis direction and Y-axis direction from the liquid supply position,
By displacing it by Δy and rotating it by Δθ around the support shaft 7, the second liquid supply nozzle 9 ₂ can be aligned with the position of the second locating member 10 ₂ at the time of measurement, that is, the second liquid supply port 1b. At the same time, the connection b can be included in the connection a during measurement, that is, the layout line c connecting both the liquid supply ports 1a and 1b.

As shown in FIG. 8, FIG. 10, FIG. 11, and FIG. 12, both the locating members 10 ₁ and 10 ₂ can be opened and closed in the radial direction by three engaging elements 10a extending downward and an opening/closing actuator 10b. The locating members 10 ₁ and 10 _{2 are attached to the elevating frame 11 d, which is attached to the measuring frame 11 so as to be able to be raised and lowered by a cylinder 11 c along the linear guide 11 b, via the arm member 11 e} , and the measuring position of the tool holder 8 is determined. After moving to , the elevating frame 11d is lowered while the measurement frame 11 remains in the positioned state, and at this time, the engager 10a of the first locate member ₁₀₁ is in the contracted and closed state, and the engager 10a of the second locate member ₁₀₂ is in the contracted and closed state. In the expanded state, the former is roughly engaged in the first liquid supply port 1a and the latter is roughly engaged with the outer periphery of the second liquid supply port 1b, and then the taper pin 17 of the measurement frame 11 is
The first locating member 10 is released from the constraint by b.
₁ is brought into centering engagement with the first liquid supply port 1a by the expanding operation of its engager 10a, and the second locating member 102 is brought into centering engagement with the second liquid supply port _1b by the contraction and closing operation of its engager 10a. The centering engagement is made between the two.

Further, the first locating member ₁₀₁ is movable in the direction of the connection a as described above, and its details are shown in FIGS. 8 to 10. The support frame 18 to which the first locating member 10 ₁ is attached is slidably supported on the fixed frame 11f via a linear guide 18a in the direction of connection a, and the end of the support frame 18 is erected on the fixed frame 11f. A positioning member 19 having a pair of openable and closable gripping claws 19b that grips the pin 19a is provided, and the first locating member 10 ₁ is moved by the member 19.
can be freely positioned at a proper position such that the distance from the second locating member ₁₀₂ is the proper distance between the liquid supply ports 1a and 1b, and the support frame 18 is provided with a dog piece 20a fixed to the fixed frame 11f. A plurality of cooperative limit switches 20 are provided, and when the first locating member 10 ₁ is released from the restraint by the positioning member 19 and engaged with the first liquid supply port 1a, the position of the locating member 10 ₁ from the normal position is determined. The amount of displacement is detected by these limit switches 20.

Further, as shown in FIGS. 2 and 4, a rubber mount _9d suspends the first liquid supply nozzle 91.
The bracket 9c supports the lift frame 9c so as to be slidable along the linear guide 9f in the direction of connection b, and the first liquid supply nozzle ₉₁ is moved to the first locate position by a pair of small single-acting cylinders 9g, 9g. Part 1
0 ₁ displacement in the connection b direction.

According to this, if the interval between both liquid supply nozzles 9 ₁ and 9 ₂ matches the actual interval between both liquid supply ports 1a and 1b, and the tool holder 8 is moved to the above-mentioned correction position in this state, the second The liquid supply nozzle 9 ₂ is a second liquid supply port 1b,
The first liquid supply nozzle 9 ₁ reliably matches the first liquid supply port 1a, and the downward movement of the respective nozzles 9 ₁ and 9 ₂ allows the nozzles to be inserted into the respective liquid supply ports 1a and 1b.

In addition, since the third liquid supply port 1c is located near the second liquid supply port 1b, the amount of relative positional deviation between both 1b and 1c is small, and the position of the third liquid supply nozzle ₉₃ is not corrected alone. In both cases, this can be inserted into the third liquid supply port 1c, but for the sake of safety, in the illustrated example, the arm member 11 to which the second locating member 10 ₂ is attached is inserted.
As shown in FIG. 11, a detection rod 21 inserted into the third liquid supply port 1c is attached to the fixed frame 11g fixed at the position e.
A detection cylinder 21 is provided, and both the locating members 10 ₁ and 10 ₂ are connected to the first and second liquid supply ports 1a,
1b, the rod 21a is moved downward, and the rod 21a is moved downward due to the positional shift of the third liquid supply port 1c.
When the third liquid supply port 1a does not move down to a predetermined position due to contact with the mouth edge, etc., the liquid is not supplied to the third liquid supply port 1c.

Moreover, each engager 10a of the second locating member ₁₀₂
As shown in FIGS. 11 and 12, arc-shaped wire rods 10c for expanding the range in which the second liquid supply port 1b can be captured are vertically shifted so that they do not interfere with each other during contraction and closing. In addition, a sensor 22 for confirming bonnet opening/closing is attached to the most extreme part of the measuring frame 11, and when the bonnet is not opened, further advancement of the tool holder 8 is stopped, and the bonnet of the locating members 10 ₁ and 10 ₂ is stopped. This prevents damage caused by contact with the

Although the embodiment in which the present invention is applied to a liquid supply device for a moving vehicle has been described above, it is needless to say that the present invention is not limited thereto.

(Effects of the Invention) As described above, according to the present invention, even if there is a relative positional shift of the work location, the position of each tool can be corrected accordingly to match each tool with the work location. Moreover, the objects to be controlled for position correction are only the tool holder and one tool, and the control of the one tool is not limited to the two orthogonal directions, but only the connection direction with the other tool, and each Compared to the control system in which the movement of the tool is controlled in two orthogonal directions, the structure of the control system and tool holder can be simplified, and it has the effect of being advantageous in terms of cost.

[Brief explanation of drawings]

FIG. 1 is a plan view of a liquid supply device to which the present invention is applied;
Fig. 2 is an enlarged plan view of the main parts, Fig. 3 is a right side view thereof, Fig. 4 is a side view taken from - in Fig. 2, Fig. 5 is a side view taken along - line in Fig. 2, 6th
The figure is a plan view taken along the - line in Figure 5, and Figure 7 is a plan view taken along the - line in Figure 5.
FIG. 8 is an enlarged plan view of the first locating member, FIG. 9 is a front view thereof, FIG. 10 is a side view taken along the line - in FIG.
FIG. 12 is an enlarged side view of the locating member, and FIG. 12 is a bottom view thereof. 1...Car (work), 1a, 1b, 1c...
...Liquid supply port (work location), 8...Tool holder, 9 ₁ ,
9 ₂ , 9 ₃ ...liquid supply nozzle (tool), 10 ₁ , 10 ₂
...Locate member, 11...Measurement frame.

Claims (1)

[Claims] 1. In a device that is configured to perform work at at least two work points on a workpiece using at least two tools attached to a tool holder, a measuring frame equipped with two locating members that engage each of the work points. one of the two locating members that engages with one of the working locations is movable relative to the measurement frame in the connecting direction of the two locating members, and the locating members are engaged with the two working locations. detects the displacement amount of the measuring frame and the displacement amount of the one locating member when the measuring frame is moved, corrects the position of the tool holder according to the displaced position of the measuring frame, and A method for correcting the position of a tool, characterized in that one tool that performs work at a work location is displaced relative to the tool holder in the connection direction of the two tools in accordance with the displacement position of the one locating member. .