| 摘要 |
PURPOSE:To attain the teaching point correction of a robot for automatic correction by inserting a probe attached to the robot into a reference hole formed 3-dimensionally to a position measuring device to teach the robot the reference position and comparing this position teaching with the old teaching result. CONSTITUTION:A robot 1 is set on a reference stage 2, and a rack 3 for position measuring device is set on the stage 2 with a relative reference position set to the robot 1. Then a position measuring device 4 is fixed on the rack 3. The device 4 has reference holes 5 at least at four areas in a 3-dimensional position. While a tapered probe 7 is attached to a wrist 6 of the robot 1. The tip of the probe 7 is put into a reference hole 5 of a position (P) (X, Y, Z), and an input is given to the robot 1. The tip of the probe 7 is corrected and converted into a point (P) (X, Y, Z) on the coordinates of the robot 1. This operation is carried out repetitively with all the four holes 5, and the data P1-P4 obtained from four areas of holes 5 are calculated together with an original point P0 and the unit vector. If a coordinate system has an error, the reference holes are corrected again. |
