Robot position control device and robot position control method

Abstract

This invention provides a robot position control device and a robot position control method that allow for easy setting of the robot's position relative to the work object. [Solution] A device 10 for controlling the position of a robot 12 with respect to a fixed work object S, comprising: a laser marker 14 provided at different positions on the robot 12 that emits laser light and irradiates a marking line M of a predetermined shape; a position relationship acquisition means 30 that acquires the positional relationship between the reference work object and the robot 12 when the marking line M is irradiated from the laser marker 14 of the robot 12, which is positioned at a reference position with respect to the reference work object, onto a target object P set on the reference work object; and a position setting means 32 that sets the position of the robot 12 with respect to the work object S to a position corresponding to the positional relationship by irradiating the marking line M onto a target object P set on the work object S corresponding to the target object P.

Description

Technical Field

[0001] The present invention relates to a robot position control device and a robot position control method used for spraying work of fireproof coating materials at construction sites and the like.

Background Art

[0002] When a general industrial robot arm is used in a factory or the like, the robot arm is fixed at a certain position, and the work object is conveyed to a fixed position by a belt conveyor or the like. Since the relative position of the work object with respect to the position of the robot arm is the same every time, once the operation of the robot is determined, the work can be completed by simply repeating the same operation.

[0003] On the other hand, in the case of a robot such as a spraying device used at a construction site, the work object (beam, column, floor, etc.) is a part of a building and its position is fixed. Therefore, it is necessary to move the robot to the position of the work object (for example, refer to Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the robot itself needs to move as described above, it is often moved by attaching some kind of traveling mechanism (wheels), but the movement accuracy becomes an issue. Specifically, if the accuracy is rough, the relative position with the work object will not be the same every time. Therefore, it is necessary to adjust the position of the robot every time after the robot moves. If it is desired to save the trouble of adjustment, it is conceivable to provide a corresponding mechanism to improve the movement accuracy of the robot. However, if the mechanism becomes complicated, the cost may increase. For this reason, a technology that can easily set the position of the robot with respect to the work object has been demanded.

[0006] The present invention has been made in view of the above, and aims to provide a robot position control device and a robot position control method that can easily set the position of the robot relative to the work object. [Means for solving the problem]

[0007] To solve the above-mentioned problems and achieve the objective, the robot position control device according to the present invention is a device for controlling the position of a robot with respect to a fixed work object, and is characterized by comprising: a laser marker provided at different positions on the robot and emitting laser light to irradiate a marking line of a predetermined shape; a position relationship acquisition means for acquiring the position relationship between the reference work object and the robot when the marking line is irradiated from the laser marker of the robot, which is positioned at a reference position with respect to the reference work object, onto a target object set on the reference work object; and a position setting means for setting the position of the robot with respect to the work object to a position corresponding to the position relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object.

[0008] Furthermore, another robot position control device according to the present invention is characterized in that, in the above-described invention, the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, the target object is the inner corner of the flange and the web, and the horizontal line of the marking line is projected onto this inner corner.

[0009] Furthermore, the robot position control method according to the present invention is a method for controlling the position of a robot with respect to a fixed work object, and is characterized by comprising the steps of: setting laser markers that emit laser light and irradiate a marking line of a predetermined shape at different positions on the robot; obtaining the positional relationship between the reference work object and the robot when the marking line is irradiated onto a target object set on the reference work object from the laser marker of the robot positioned at a reference position with respect to the reference work object; and setting the position of the robot with respect to the work object to a position corresponding to the positional relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object.

[0010] Furthermore, another robot position control method according to the present invention is characterized in that, in the above-described invention, the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, the target object is the inner corner of the flange and the web, and the horizontal line of the marking line is projected onto this inner corner. [Effects of the Invention]

[0011] The robot position control device according to the present invention is a device for controlling the position of a robot with respect to a fixed work object, and comprises: a laser marker provided at different positions on the robot that emits laser light and irradiates a marking line of a predetermined shape; a position relationship acquisition means for acquiring the positional relationship between the reference work object and the robot when the marking line is irradiated from the laser marker of the robot, which is positioned at a reference position with respect to the reference work object, onto a target object set on the reference work object; and a position setting means for setting the position of the robot with respect to the work object to a position corresponding to the positional relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object. This provides the effect of easily setting the position of the robot with respect to the work object.

[0012] Furthermore, according to another robot position control device of the present invention, the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, and the target object is the inner corner of the flange and web, and the horizontal line of the marking line is projected onto this inner corner, thereby providing the effect of easily setting the position of the robot relative to the steel beam.

[0013] Furthermore, the robot position control method according to the present invention is a method for controlling the position of a robot with respect to a fixed work object, and includes the steps of: setting laser markers that emit laser light and irradiate a marking line of a predetermined shape at different positions on the robot; acquiring the positional relationship between the reference work object and the robot when the marking line is irradiated onto a target object set on the reference work object from the laser marker of the robot positioned at a reference position with respect to the reference work object; and setting the position of the robot with respect to the work object to a position corresponding to the positional relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object. This method has the effect of easily setting the position of the robot with respect to the work object.

[0014] Furthermore, according to another robot position control method of the present invention, the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, and the target object is the inner corner of the flange and web, and the horizontal line of the marking line is projected onto this inner corner, thereby providing the effect of easily setting the position of the robot relative to the steel beam. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a schematic side view showing an embodiment of the robot position control device according to the present invention. [Figure 2] Figure 2 is a schematic elevation view showing an embodiment of the robot position control device according to the present invention. [Figure 3]FIG. 3 is a schematic perspective view of irradiating a marking line at the corner of the upper flange and the web. [Figure 4] FIG. 4 is a photographic view of irradiating a marking line at the corner of the upper flange and the web. [Figure 5] FIG. 5 is an explanatory view immediately after the robot moves, (1) is a side view, and (2), (3) are top views.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments of a robot position control device and a robot position control method according to the present invention will be described in detail based on the drawings. Note that the present invention is not limited by this embodiment.

[0017] As shown in FIGS. 1 and 2, a robot position control device 10 according to an embodiment of the present invention is a device that controls the position of a robot 12 with respect to a fixed work object S, and includes a laser marker 14 and an operation terminal 16. Note that the robot 12 in this embodiment is assumed to be a robot that performs a spraying operation of a fireproof coating material on a large number of steel beams (work objects) constructed at a construction site.

[0018] The work object S is a steel beam made of an H-shaped steel including a web S1 and upper and lower flanges S2 and S3. When the horizontal direction in the longitudinal direction of the steel beam is defined as the X direction and the horizontal direction orthogonal to the X direction is defined as the Y direction, the normal direction of the surface of the web S1 faces the Y direction, and the normal directions of the surfaces of the upper and lower flanges S2 and S3 face the vertical direction (Z direction: height direction).

[0019] The robot 12 includes a carriage 20 having wheels capable of traveling on the floor surface 18, a lifter 22 installed on the carriage 20, and a robot arm 26 installed on the lifter 22. The robot 12 is arranged at an appropriate position obliquely below the work object S where the spraying operation is possible.

[0020] The robot arm 26 includes a base 24 installed on the lifter 22 and an arm portion 25 installed on the base 24 so as to be rotatable about a vertical axis. The arm portion 25 is of an articulated type including a plurality of joint portions. The arm portion 25 is configured to be movable by an actuator (not shown) and can move its tip position and orientation in each of the X, Y, and Z directions. A nozzle for injecting a refractory coating material and a distance sensor (not shown) for measuring the relative position between the measurement object and the arm portion 25 are attached to the tip of the arm portion 25.

[0021] The laser markers 14 are respectively provided on the left and right side portions (different positions) of the robot 12 and emit laser light B to irradiate a cross-shaped marking line M. Specifically, as shown in FIGS. 3 and 4, the horizontal cross line M1 of the cross-shaped marking line M can be irradiated onto the inner corner P (target object) of the upper flange S2 and the web S1 of the work object S. The irradiation position of the marking line M can be set by the operator adjusting the angle of the laser marker 14 and the position and orientation of the robot 12 while visually observing the irradiation position. Note that the target object to be irradiated is not limited to the inner corner of the upper flange S2 and the web S1. Also, the marking line M is not limited to a cross shape and may be other shapes.

[0022] The operation terminal 16 includes a robot operation means 28, a positional relationship acquisition means 30, and a position setting means 32.

[0023] The robot operating means 28 is connected to the robot 12 via a wired or wireless communication line and can transmit control information to the robot 12 and receive information transmitted by the robot 12. The robot operating means 28 can receive information such as the cross-sectional shape and position of the steel beam, which is the work object S, including the beam depth; the beam ceiling height of the building (height from the floor surface 18 to the ceiling 34 to which the steel beam is fixed); the appropriate positional relationship between the robot 12 and the steel beam; the spraying range and spraying order on the steel beam; and information for adjusting the position and orientation of the robot 12. The cross-sectional shape, position, and beam ceiling height of the steel beam can be values ​​predetermined in design drawings, etc. The robot operating means 28 obtains the position and orientation of the robot 12 from the robot coordinate system. The center position C of the robot 12 is located at the center of the base 24.

[0024] The robot operating means 28 generates control information for controlling the robot 12 based on this information. The robot operating means 28 also transmits the generated control information to the robot 12 to control the position and orientation of the robot 12 and the spraying operation performed by the robot 12. The orientation of the robot 12 relative to the work object S is such that the work object S is located on the front side of the robot 12, with the positive Y direction being the front side.

[0025] The positional relationship acquisition means 30 acquires the positional relationship between the reference work object S and the robot 12 when a marking line M is projected onto a target object set on the reference work object S, using the laser marker 14 of the robot 12 positioned at a reference position relative to the reference work object S. The reference work object S can be appropriately set from work objects S with the same cross-sectional shape; for example, the first work object S on which the spraying operation is performed is selected. The reference position is the precise appropriate position of the robot 12 determined by marking using a scale, laser level, etc. The target object is set, for example, at the inner corner P between the upper flange S2 and the web S1. The positional relationship between the reference work object S and the robot 12 can be acquired from the reference position, the angle of the laser marker 14, and the position of the target object on the reference work object S. The acquired positional relationship is sent to the robot operating means 28 and can be used as control information for the robot 12.

[0026] The position setting means 32 sets the position of the robot 12 relative to the work object S by irradiating a marking line M onto a target object set on the work object S, thereby setting the robot 12 to a position corresponding to the positional relationship. The target object set on the work object S is assumed to be located in the same position as the reference work object S. After positioning the robot 12 on the front side of the work object S, if the position of the robot 12 is adjusted so that the marking line M is irradiated from the laser marker 14 onto the target object on the work object S without changing the angle of the laser marker 14, the robot 12 will be positioned in the appropriate position corresponding to the above positional relationship. This allows the position of the robot 12 to be set to the appropriate position. The set position is sent to the robot operation means 28 and can be used as control information for the robot 12. Note that the position of the robot 12 can be adjusted by an operator visually observing the target object and marking line M on the work object S and manipulating the position of the robot 12.

[0027] Next, a position control method for controlling the position of the robot 12 described above will be explained. Figure 5 shows an example of the robot 12's placement before applying this embodiment. As shown in Figure 5(1), in order to perform spraying work on the workpiece S, the robot 12 is positioned at an appropriate distance in the Y direction from the workpiece S. In this case, as shown in Figure 5(2), the orientation of the robot 12 may be tilted with respect to the Y direction, or as shown in Figure 5(3), the center position C of the robot 12 may be shifted in the X direction from the longitudinal center position of the workpiece S, resulting in a slight deviation from the appropriate position. Although there is a reasonable tolerance, it is difficult to move the robot 12 to the appropriate position by human judgment alone. Therefore, the following position control method is applied to position the robot 12 in the appropriate position.

[0028] First, as shown in Figures 1 and 2, the robot 12 is moved and positioned around the first workpiece S to be sprayed. This position is designated as the reference position, and this workpiece S is designated as the reference workpiece. When positioning the robot 12, it is desirable to mark the correct position using a scale, laser level, etc., to ensure that the robot 12 is positioned accurately and appropriately.

[0029] Next, laser light B is emitted from the laser marker 14 at that position, and the angle of the laser marker 14 is adjusted so that the horizontal cross line M1 of the cross-shaped marking line M is irradiated onto the inner corner P between the lower surface of the upper flange S2 and the surface of the web S1, as shown in Figure 3. Here, it is desirable to irradiate so that the vertical cross line M2 of the marking line M is symmetrical with respect to the center position in the X direction of the workpiece S. In this way, the center position C of the robot can be positioned directly in front of the center position in the X direction of the workpiece S.

[0030] Subsequently, when moving the robot 12 around other workpieces S, the laser marker 14 emits laser light B at the destination, and the robot 12's position is adjusted based on the guideline that the cross-shaped horizontal line M1 of the marking line M illuminates the inner corner P between the lower surface of the upper flange S2 and the surface of the web S1. Here, if the cross-shaped vertical line M2 of the marking line M is illuminated so as to be symmetrical with respect to the center position in the X direction of the workpiece S, the robot's center position C can be positioned directly in front of the center position in the X direction of the workpiece S.

[0031] According to this embodiment, by attaching the laser marker 14 to the robot 12, adjusting the angle of the laser marker 14 so that a marking line M of the laser beam B is projected onto a fixed position on the workpiece S, and then moving the robot 12 using the marking line M of the laser beam B as a guide, it becomes possible to easily set the relative position to the workpiece S to the same position each time without the need for marking out. Therefore, the position of the robot 12 relative to the workpiece S can be easily set.

[0032] As described above, the robot position control device according to the present invention is a device for controlling the position of a robot with respect to a fixed work object, and includes: a laser marker provided at different positions on the robot that emits laser light and irradiates a marking line of a predetermined shape; a position relationship acquisition means for acquiring the position relationship between the reference work object and the robot when the marking line is irradiated from the laser marker of the robot, which is placed at a reference position with respect to the reference work object, onto a target object set on the reference work object; and a position setting means for setting the position of the robot with respect to the work object to a position corresponding to the position relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object. Therefore, the position of the robot with respect to the work object can be easily set.

[0033] Furthermore, according to another robot position control device of the present invention, the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, and the target object is the inner corner of the flange and web, and the horizontal line of the marking line is projected onto this inner corner, so the position of the robot relative to the steel beam can be easily set.

[0034] Furthermore, the robot position control method according to the present invention is a method for controlling the position of a robot with respect to a fixed work object, and includes the steps of: setting laser markers that emit laser light and irradiate a marking line of a predetermined shape at different positions on the robot; acquiring the positional relationship between the reference work object and the robot when the marking line is irradiated onto a target object set on the reference work object from the laser marker of the robot positioned at a reference position with respect to the reference work object; and setting the position of the robot with respect to the work object to a position corresponding to the positional relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object. Thus, the position of the robot with respect to the work object can be easily set.

[0035] Furthermore, according to another robot position control method of the present invention, the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, and the target object is the inner corner of the flange and web, and the horizontal line of the marking line is projected onto this inner corner, so the position of the robot relative to the steel beam can be easily set.

[0036] Furthermore, the "Sustainable Development Goals (SDGs)" are among the 17 international goals adopted at the UN Summit in September 2015. The robot position control device and robot position control method according to this embodiment can contribute to achieving some of the 17 SDGs, such as goal 8, "Decent Work and Economic Growth." [Industrial applicability]

[0037] As described above, the robot position control device and robot position control method according to the present invention are useful for robots used in construction sites and other places for tasks such as spraying fire-resistant coatings, and are particularly suitable for easily setting the position of the robot relative to the work object. [Explanation of Symbols]

[0038] 10 Robot position control device 12 Robots 14 Laser Markers 16 Operating terminal 18 Floor surface 20 carts 22 Lifter 24 base 25 Arm section 26 Robot Arm 28 Robot operating means 30 Means for obtaining positional relationships 32 Position setting means 34 Ceiling B Laser light C center position M marking line M1 horizontal line M2 vertical line P corner (target object) S Work Object S1 Web S2 Upper Flange S3 Lower flange

Claims

1. A device for controlling the position of a robot relative to a fixed workpiece, A robot position control device comprising: a laser marker provided at different positions on the robot and emitting laser light to project a marking line of a predetermined shape; a position relationship acquisition means for acquiring the positional relationship between the reference work object and the robot when the marking line is projected onto a target object set on the reference work object from the laser marker of the robot positioned at a reference position relative to the reference work object; and a position setting means for setting the position of the robot relative to the work object to a position corresponding to the positional relationship by projecting the marking line onto a target object set on the work object corresponding to the target object.

2. The robot position control device according to claim 1, characterized in that the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, the target object is the inner corner of the flange and web, and the horizontal line of the marking line is projected onto this inner corner.

3. A method for controlling the position of a robot relative to a fixed workpiece, The steps include: installing laser markers that emit laser light to project marking lines of a predetermined shape at different positions on the robot; A robot position control method characterized by comprising the steps of: acquiring the positional relationship between the reference work object and the robot when the marking line is irradiated onto a target object set on the reference work object from the laser marker of the robot positioned at a reference position relative to the reference work object; and setting the position of the robot relative to the work object to a position corresponding to the positional relationship by irradiating the marking line onto a target object set on the work object corresponding to the target object.

4. The robot position control method according to claim 3, characterized in that the work object is a steel beam made of H-shaped steel, the marking line is a cross-shaped marking line, the target object is the inner corner of the flange and web, and the horizontal line of the marking line is projected onto this inner corner.

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