METHOD FOR MEASURING TOOL DIMENSION, DEVICE FOR MEASURING TOOL DIMENSION AND ROBOT HAVING MEASUREMENT DEVICE THEREOF

摘要

PROBLEM TO BE SOLVED: To measure the dimension of a tool attached to the tool attachment part of a robot.SOLUTION: A method for measuring the position of a tool reference point T with respect to a tool attachment part 10g of a robot 10 comprises: repeatedly executing the operation of the robot 10 such that the tool attachment part rotates with an arbitrary rotation center line passing through an arbitrary position with respect to the tool attachment part 10g as a center in a state that the actual tool reference point T is photographed by a camera 14; measuring the moving amount on the camera photographic image of the actual tool reference point T which has moved each time the tool attachment part 10g rotates; changing the arbitrary position and/or arbitrary rotation center line each time the rotation of the tool attachment part 10g ends; specifying the arbitrary position where the moving amount on the camera photographic image of the actual tool reference point T which moves according as the tool attachment part 10g rotates is turned into almost zero; and setting the specified arbitrary position as the position of the tool reference point T with respect to the tool attachment part 10g.