Articulated robot, and calibration device and calibration program for articulated robot

Abstract

The present invention provides an articulated robot which allows an operator to easily acquire accurate information on a specific joint of a specific model. This articulated robot has a plurality of joints, and a joint information unit storing joint information of each joint is provided in the vicinity of the joint.

Description

Articulated robot, and calibration device and calibration program for articulated robot

[0001] The present disclosure relates to an articulated robot, and a calibration device and calibration program for the articulated robot.

[0002] In recent years, articulated robots have been widely used as industrial robots, collaborative robots, etc. Such articulated robots use different motors and reducers depending on the model and joint locations of each robot, and each joint has its own unique settings.

[0003] Conventionally, information about each joint of an articulated robot has been acquired by an operator, for example, by referring to a manual provided with the robot. Therefore, for example, in a factory where a plurality of different models are used, an operator not only has to expend a great deal of effort to acquire information about a specific joint (joint information) in a specific model of robot, but there is also a risk that the operator may mistakenly acquire joint information that is different from the specific joint.

[0004] Incidentally, for example, when replacing the motor or reducer in a specific joint of an articulated robot used in a factory, it is necessary to use the joint information of that specific joint to perform calibration (mastering) to match the output of the detector (pulse coder) that detects the rotational position of the motor with the actual joint position.

[0005] Conventionally, various proposals have been made for acquiring and processing joint information relating to a specific joint of an articulated robot.

[0006] JP 2011-251365 A JP 2022-065646 A JP 2019-030943 A JP 2023-006017 A

[0007] As described above, for example, when a motor or a reducer in a specific joint of an articulated robot is replaced, it is necessary to perform mastering using the joint information of that specific joint. However, acquiring the joint information of that specific joint requires a great deal of effort, and there is also a risk that joint information different from that specific joint will be acquired by mistake.

[0008] Therefore, there is a demand for an articulated robot that allows an operator to easily obtain accurate information about a specific joint of a specific model. There is also a demand for an articulated robot that allows an operator to easily and correctly master a specific joint of a specific model, as well as a calibration device and calibration program for the articulated robot.

[0009] According to one embodiment of the present disclosure, there is provided an articulated robot having a plurality of joints, in which a joint information unit storing joint information relating to each joint is provided near the joint.

[0010] FIG. 1 is a diagram schematically illustrating an example of a robot system to which a multi-joint robot according to this embodiment is applied. FIG. 2 is a block diagram illustrating an example of a robot control device in the robot system shown in FIG. 1. FIG. 3 is a diagram illustrating an example of an multi-joint robot according to this embodiment. FIG. 4 is a diagram illustrating an example of markers provided at joints of the multi-joint robot shown in FIG. 3. FIG. 5 is a diagram illustrating modified examples of joints in the multi-joint robot shown in FIG. 3. FIG. 6 is a diagram illustrating modified examples of alignment marks and joint information units provided at joints of the multi-joint robot shown in FIG. 3. FIG. 7 is a flowchart illustrating an example of processing in an example of a calibration program for the multi-joint robot according to this embodiment.

[0011] Hereinafter, examples of an articulated robot, a calibration device for an articulated robot, and a calibration program for the articulated robot according to the present embodiment will be described in detail with reference to the accompanying drawings. In each drawing, the same or similar components are assigned the same or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope and meaning of the terms of the invention described in the claims.

[0012] 1 is a diagram showing a schematic diagram of an example of a robot system to which the articulated robot according to this embodiment is applied, showing a robot system using a six-axis industrial robot having six joints (rotation axes) J1 to J6 as the articulated robot. As shown in FIG. 1, the robot system 100 includes an industrial robot (articulated robot) 1, a robot control device 2, a teaching pendant 3, and a camera (visual sensor) 4.

[0013] A hand (end effector) 11A is provided at the tip of an arm 11 of the articulated robot (robot) 1, and this hand 11A performs a predetermined process on a workpiece (object) 52 placed on a workbench 51, for example. A robot control device 2 controls the robot 1 based on, for example, a program (software program) pre-installed in a memory (25) and the outputs of various sensors (for example, a camera 4 and a pulse coder).

[0014] After the robot 1 (mechanical unit) 1 is assembled in a manufacturing factory, for example, a process called mechanism calibration is performed to define the correspondence between the rotation angles (axis angles) θ1 to θ6 at each joint and the position and posture of the hand unit (arm tip) 11A, as shown in the following equation (I): (J1, J2, ..., J6) = (θ1, θ2, ..., θ6) ←→ (X, Y, Z, W, P, R) (I)

[0015] In the above formula (I), X, Y, and Z are the X-, Y-, and Z-coordinates (three-dimensional position data) in the orthogonal three-axis coordinate system of the hand unit 11A, and W, P, and R are the rotation angles (posture data) around the X-, Y-, and Z-axis directions, respectively.

[0016] Here, as an example, the mechanism calibration is performed by setting each joint in a posture of a specified reference position, and for example, a correspondence relationship between a signal (sensor signal) of a pulse coder provided in the motor and shaft angles θ1 to θ6 is determined as a reference position (reference). At this time, a zero point (θ=0) of the shaft angles θ1 to θ6 is defined, and J1 to J6 are expressed with reference to the zero point. Note that the zero point is defined, for example, at the reference position, and the sensor signal at this reference position, i.e., the sensor signal corresponding to the zero point, is stored (memorized) in memory (25) as a reference signal.

[0017] When the above-described mechanism calibration has already been completed, for example, if the motor (servo motor) or reducer is removed for maintenance work, the position information based on the sensor signal with the zero point as the reference changes, and the position information becomes invalid. Also, when the servo motor is replaced, the pulse coder is replaced at the same time, and in this case too, the position information based on the sensor signal with the zero point as the reference becomes invalid.

[0018] The camera 4 is used to capture images of, for example, specific joints among the joints J1 to J6 of the robot 1, namely, a fixed-side marker 71 provided on the fixed-side joint 61 and a movable-side marker 72 provided on the movable-side joint 62 in the joint 6 described below, and output the captured images to the robot control device 2 (image processing unit 22).

[0019] For example, a single movable camera can be used as the camera 4 when the operator moves the camera to a position where it can capture images of the fixed marker 71 and the movable marker 72 of the specific joint 6 to be mastered. However, one or more fixed cameras installed in advance can also be used as long as they can capture images of all of the joints J1 to J6 of the robot 1. Here, a 2D (two-dimensional) camera can be used as the camera 4, but a 3D (three-dimensional) camera installed for another purpose can also be used. Note that the markers (the fixed marker 71 and the movable marker 72) will be described in detail later with reference to FIGS. 3 to 6.

[0020] The teaching pendant 3 includes a display screen 31 and an operation unit 32, and is connected by wire to the robot control device 2. This teaching pendant 3 is used, for example, by an operator (teacher) operating the operation unit 32 while checking the image on the display screen 31, to teach the robot 1 a predetermined operation using the hand unit 11A via the robot control device 2, but it can also be used, for example, for mastering a specific joint 6.

[0021] Fig. 2 is a block diagram for explaining an example of a robot control device in the robot system shown in Fig. 1. Here, the calibration device for the articulated robot according to this embodiment may be built into the robot control device 2, for example, or may be provided as a separate device from the robot control device 2. The robot control device 2 shown in Fig. 2 corresponds to one that has the calibration device for the articulated robot according to this embodiment built in.

[0022] 2, the robot control device 2 includes a camera I / F (interface) 21, an image processing unit 22, a mastering control unit 23, a teaching pendant I / F 24, a memory (storage unit) 25, a program control unit 26, and an arithmetic processing device 27. The robot control device 2 controls the robot (industrial robot) 1, for example, in accordance with an operation control program installed in the memory 25, causes the robot 1 to perform a predetermined task, and controls the robot 1 based on instructions from the teaching pendant 3, images captured by the camera 4, signals from the pulse coder of the robot 1, etc.

[0023] The camera I / F 21 exchanges control signals and data with the camera 4, and outputs, for example, image data captured by the camera 4 to the image processing unit 22. The image processing unit 22 processes the image data captured by the camera 4 that is input via the camera I / F 21, and outputs the processing results to the mastering control unit 23, the arithmetic processing device 27, etc.

[0024] Here, the function of the image processing unit 22 related to the calibration device for the articulated robot according to this embodiment is to process image data of the alignment marks 71 a, 72 a and the joint information units 71 b, 72 b included in the image of the specific joint 6 captured by the camera 4. It goes without saying that the image processing unit 22 also processes image data of the workpiece 52, hand unit 11A, etc. captured by the camera 4, just like a normal articulated robot.

[0025] The mastering control unit 23 receives the data of the alignment marks 71a, 72a processed by the image processing unit 22 and the joint information stored in the joint information units 71b, 72b, and performs mastering (calibration) of the joints, for example, based on the calibration program for the articulated robot according to this embodiment. Note that the alignment marks 71a, 72a and the joint information units 71b, 72b related to mastering will be described in detail with reference to Figures 3 to 6, as described above.

[0026] The teaching operation panel I / F 24 exchanges control signals and data with the teaching operation panel 3, and for example outputs commands input by an operator via the operation unit 32 of the teaching operation panel 3 to the arithmetic processing device 27, and also displays display data from the arithmetic processing device 27 on the display screen 31 of the teaching operation panel 3.

[0027] The memory 25 includes, for example, a volatile memory such as a dynamic random access memory (DRAM), and a non-volatile memory such as a programmable read only memory (PROM), a flash memory, etc. The program control unit 26 controls the robot 1 based on, for example, an operation control program pre-installed in the memory 25, and causes the robot 1 to perform a predetermined task on the workpiece 52.

[0028] Here, the memory 25 is pre-installed with not only the motion control program for the robot 1 but also a calibration program for the articulated robot according to this embodiment. The mastering control unit 23 executes the calibration program to perform mastering for each joint 6 of the robot 1. Here, for example, data (registered data) after mastering can also be stored in the memory 25, corresponding to the joint information units (e.g., two-dimensional codes) 71b and 72b. That is, when mastering for a specific joint 6 of the robot 1 is completed, joint information related to the mastering (e.g., maintenance work, etc.) of that joint 6 can be sent to a database (e.g., the memory 25) and stored in association with the joint information units (71b and 72b) of that axis 6. Note that joint information related to each joint 6 at the time of manufacturing (assembly) of the robot 1 can also be sent to the database and stored in association with the joint information units 71b and 72b of each joint 6 in the memory 25.

[0029] The arithmetic processing device 27 includes, for example, an MPU (Micro Processing Unit) and a CPU (Central Processing Unit) and controls the robot 1, the teaching pendant 3, the camera 4, etc. Although the image processing unit 22, the mastering control unit 23, the program control unit 26, and the arithmetic processing device 27 are depicted as separate blocks in FIG. 2 , it is also possible to realize all of these functions in a single block (arithmetic processing device). The calibration device for the articulated robot according to this embodiment may be built into the robot control device 2 shown in FIG. 2 , but as described above, it may also be provided as a separate unit from the robot control device 2. Furthermore, the robot control device 2 is not limited to one that controls the industrial robot 1, but may also control various articulated robots, including collaborative robots.

[0030] Fig. 3 is a diagram for explaining one example of the articulated robot according to this embodiment, and is for explaining the joint J2 and the like in the articulated robot 1. That is, Fig. 3 shows the joint J2 of the articulated robot 1 shown in Fig. 1 in more detail, and this joint J2 (6) is imaged by the camera 4. Reference numeral 40 denotes an LED light (lighting device) that is provided in front of the camera 4 and that irradiates light onto the joint 6 that is to be mastered.

[0031] 3, the joint 6 (J2) of the robot 1 is concentrically formed and is composed of a fixed joint 61 fixedly provided on the outside and a movable joint 62 provided movable on the inside. A fixed marker 71 is provided on the fixed joint 61, and a movable marker 72 is provided on the movable joint 62.

[0032] The fixed-side marker 71 is provided with a fixed-side alignment mark 71 a and a fixed-side joint information section 71 b, and the movable-side marker 72 is provided with a movable-side alignment mark 72 a and a movable-side joint information section 72 b. The fixed-side marker 71 and the movable-side marker 72 are provided so that the fixed-side alignment mark 71 a and the movable-side alignment mark 72 a have a predetermined positional relationship, for example, so that the position of the movable-side alignment mark 72 a changes relative to the fixed-side alignment mark 71 a as the movable joint 62 moves.

[0033] The fixed-side marker 71 and the movable-side marker 72 can be formed as metal or resin sheets that are highly weather-resistant and corrosion-resistant (durable). Furthermore, the fixed-side marker 71 and the movable-side marker 72 can also be formed as stickable stickers with adhesive applied to the backside. Alternatively, the fixed-side marker 71 and the movable-side marker 72 can be formed by directly processing the fixed-side joint 61 and the movable-side joint 62 using a scribing technique or the like.

[0034] Thus, according to one example of the articulated robot of this embodiment, in the articulated robot 1 having a plurality of joints, joint information units 71b, 72b storing joint information related to each joint are provided near each joint 6 (J1 to J6). Note that the joint information unit may be both the fixed-side joint information unit 71b of the fixed-side marker 71 provided on the fixed joint 61 and the movable-side joint information unit 72b of the movable-side marker 72 provided on the movable joint 62, or it may be either the fixed-side joint information unit 71b or the movable-side joint information unit 72b.

[0035] Incidentally, when only one of the fixed-side joint information unit 71b and the movable-side joint information unit 72b is provided for a joint 6, the joint information stored in that one joint information unit preferably includes at least one of, for example, model information of the robot 1, identification information of the joint 6 in the robot 1, information about the motor used in that joint 6, and information about the transmission used in that joint 6. That is, for example, the fixed-side marker 71 can include a fixed-side alignment mark 71a and a movable-side alignment mark 72a, and the movable-side marker 72 can include only the movable-side alignment mark 72a but not the movable-side joint information unit 72b.

[0036] Furthermore, when both the fixed-side joint information unit 71b and the movable-side joint information unit 72b are provided for a joint 6, for example, the fixed-side joint information unit 71b preferably further includes information on the accuracy of the fixed-side alignment mark 71a, and the movable-side joint information unit 72b preferably further includes information on the accuracy of the movable-side alignment mark 72a. In other words, when both the fixed-side joint information unit 71b and the movable-side joint information unit 72b are provided for a joint 6, not only the model information of the robot 1 and the identification information of the joint 6, and information on the joint 6 such as the motor and transmission used in the joint 6, but also information on the corresponding fixed-side joint 61 and movable-side joint 62 can be stored.

[0037] Here, the information stored in the fixed-side joint information unit 71b and the movable-side joint information unit 72b (joint information unit) is correctly recognized by the master rig control unit 23 by processing the images captured by the camera 4 in the image processing unit 22 of the robot control device 2, and is used for mastering the joint 6. Note that various known processes can be applied to master the joint 6.

[0038] Here, the joint information units (fixed-side joint information unit 71b and movable-side joint information unit 72b) preferably include at least one of a one-dimensional code such as a barcode, a two-dimensional code such as a QR Code (registered trademark), symbols, numbers, and letters. These joint information units are captured by, for example, a camera 4, and the captured image is input to the mastering control unit 23 via the camera I / F 21 and the image processing unit 22. The mastering control unit 23 is capable of decoding (recognizing) the joint information stored in the joint information units (71b, 72b). While only one joint J2 (6) is shown enlarged in FIG. 3, the same applies to the other joints J1, J3 to J6 of the robot 1 shown in FIG. 1.

[0039] When executing the calibration program for the articulated robot according to this embodiment, for example, an operator operates the camera 4 to capture an image so that the joint J2 (fixed-side marker 71 and movable-side marker 72) of the robot 1 is within the field of view. The captured image is then input to the mastering control unit 23 via the camera I / F 21 and image processing unit 22, and the movable-side joint 62 of the joint J2 is moved to check the change in the movable-side alignment mark 72a relative to the fixed-side alignment mark 71a in the captured image, thereby executing mastering of the joint J2.

[0040] As described above, according to one example of the articulated robot of this embodiment, the camera 4 captures an image of the joint information unit (at least one of the fixed-side joint information unit 71 b and the movable-side joint information unit 72 b) provided near the joint 6, and by processing the image of the joint information unit in the captured image, it is possible to recognize and process the joint information related to the joint stored in the joint information unit. In other words, according to the articulated robot of this example, the worker can easily obtain accurate information related to a specific joint of a specific model.

[0041] Furthermore, for example, when replacing a motor or a transmission in a specific joint 6 of the articulated robot 1, the joint information can be acquired by using the camera 4 to capture an image of the joint information unit (71 b, 72 b) provided near the joint 6, thereby eliminating the need for the worker to refer to a manual or to personally identify the joint in which the motor or the like is to be replaced. In this way, according to one example of the articulated robot of this embodiment, the worker can easily and correctly perform mastering of a specific joint of a specific model.

[0042] FIG. 4 is a diagram for explaining an example of a marker provided on a joint of the articulated robot shown in FIG. 3 , and shows an example of a fixed-side marker 71 formed as a sticker with adhesive applied to the back side that can be attached to the fixed-side joint 61 of the joint 6.

[0043] 4, the fixed-side marker 71 includes a fixed-side alignment mark 71a and a fixed-side joint information section 71b. Here, the fixed-side alignment mark 71a is, for example, triangular with its apex facing outward so that the relative position of the fixed-side joint 62 with respect to the movable-side joint information section 72b can be easily detected, but is not limited to this triangular shape. Furthermore, the fixed-side joint information section 71b is, for example, a QR code (registered trademark), but is not limited to this.

[0044] That is, as described above, the fixed-side joint information unit 71b is configured to include at least one of a one-dimensional code such as a barcode, a two-dimensional code such as a QR code (registered trademark), a symbol, a number, and a letter. Note that, similar to the fixed-side joint information unit 71b, the movable-side joint information unit 72b is also configured to include at least one of a one-dimensional code, a two-dimensional code, a symbol, a number, and a letter.

[0045] Here, the fixed-side marker 71 including the fixed-side alignment mark 71a and the fixed-side joint information portion 71b can be formed, for example, as a metal or resin sheet that has excellent weather resistance and corrosion resistance (durability). Furthermore, the fixed-side marker 71 can also be formed as a sticker that can be attached to the fixed-side joint 61. Alternatively, the fixed-side marker 71 can be directly processed onto the fixed joint 61 using a technique such as scribing. Note that the movable-side marker 72 that is attached to the movable joint 62 of the joint 6 can also be formed in the same manner as the fixed-side marker 71.

[0046] FIG. 5 is a diagram illustrating a modified example of the joint in the articulated robot shown in FIG. 3 . Similar to the example described with reference to FIG. 3 , FIG. 5( a ) shows a joint 6 , which is concentrically shaped and rotates about axis r, and is composed of a fixed joint 61 fixed on the outside and a movable joint 62 movable on the inside. Note that the markers (fixed marker 71 and movable marker 72 ) have different shapes in FIG. 3 and FIG. 5( a ). This may vary depending on the relative proportions of the joint 6 (fixed joint 61 and movable joint 62 ) and the markers, and is not limited to the shapes shown. FIG. 5( b ) shows a cylindrical joint 6 that rotates about axis r, and is composed of a fixed joint 61 fixed on the lower side and a movable joint 62 movable on the upper side. It goes without saying that the markers 71 and 72 in FIG. 5( b ) are not limited to the shapes shown.

[0047] The joint 6 of the articulated robot 1 according to this embodiment may be either a concentric circular joint as shown in FIG. 5( a) or a cylindrical joint as shown in FIG. 5( b), and may further be any of various joints including a fixed joint 61 and a movable joint 62.

[0048] 6A and 6B are diagrams illustrating modified examples of the alignment marks and joint information unit provided on the joints of the articulated robot shown in Fig. 3. Fig. 6A shows an example in which the fixed-side alignment mark 71a of the fixed joint 61 is formed with six points, and the movable-side alignment mark 72a of the movable joint 62 is formed with one point. In Fig. 6A, the joint information unit (fixed-side joint information unit 71b) that stores joint information is provided only in the fixed joint 61, and is composed of multiple letters (alphabetical characters: A, B, C, D, ...).

[0049] Figure 6(b) shows an example in which the fixed-side alignment mark 71a of the fixed joint 61 is formed by one line and two points, and the movable-side alignment mark 72a of the movable joint 62 is formed by one line. In Figure 6(b), the joint information section (fixed-side joint information section 71b) that stores joint information is provided only in the fixed joint 61, and is made up of a plurality of numbers (Arabic numerals: 1, 2, 3, 4, ...).

[0050] Here, the characters shown in Figure 6(a) and the numbers shown in Figure 6(b) can be accurately recognized by using, for example, a known OCR (Optical Character Recognition / Reader). Note that the characters shown in Figure 6(a) and the numbers shown in Figure 6(b) are merely examples, and it goes without saying that various other characters may also be used.

[0051] Figure 6(c) shows an example in which the fixed-side alignment mark 71a of the fixed joint 61 is formed with three lines, and the movable-side alignment mark 72a of the movable joint 62 is formed with one line. In Figure 6(c), the joint information section (fixed-side joint information section 71b) that stores joint information is provided only in the fixed joint 61, and is made up of a plurality of symbols (circle, triangle, square, double circle, ...).

[0052] 6(a) to 6(c), the joint information is stored only in the fixed-side joint information unit 71b provided in the fixed joint 61, but a movable-side joint information unit 72b can also be provided for the movable joint 62. If both the fixed-side joint information unit 71b and the movable-side joint information unit 72b are provided, information related to the fixed joint 61 and the movable joint 62 can be added and stored, respectively. Also, in FIGS. 6(a) to 6(c), the fixed-side joint information unit 71b can be formed as an attachable sticker made of a durable metal or resin sheet, but as mentioned above, it can also be machined directly onto the fixed joint 61 using a technique such as marking.

[0053] FIG. 7 is a flowchart illustrating an example of processing in an example of a calibration program for an articulated robot according to this embodiment, and illustrates an example of processing in the calibration program for calibrating a specific joint 6 in the articulated robot 1 described with reference to FIGS. 1 to 6. As shown in FIG. 7, when an example of processing in the calibration program of this embodiment starts (START), in step ST1, an operator positions the camera 4 so that the markers (71, 72) are within the field of view of the camera 1. That is, in step ST1, the operator moves the camera 4 to a position where it can capture images of the fixed-side marker 71 and the movable-side marker 72 of the specific joint 6 to be mastered. As described above, the camera 4 may be, for example, one or more pre-installed fixed cameras, as long as they are capable of capturing images of each joint 6 (markers 71, 72).

[0054] Next, the process proceeds to step ST2, where the operator issues a command to start measurement via the teaching pendant 3, and the process proceeds to step ST3. In step ST3, the camera 4 reads the two-dimensional codes (71, 72) of the markers. Furthermore, the process proceeds to step ST4, where necessary parameters are extracted from the two-dimensional codes read by the camera 4 and registered in the robot control device 2. That is, the joint information stored in the joint information sections 71b, 72b contained in the captured image of the joint 6 captured by the camera 4 is extracted and registered (stored) in the memory 25, so that the mastering control section 23 can recognize the joint information. It goes without saying that the necessary parameters can be extracted from the two-dimensional code not by extracting the parameters written in the two-dimensional code itself, but by extracting the parameters, for example, from the joint information stored in the memory 25 in association with the two-dimensional code.

[0055] Here, the joint information section may be provided in both the fixed joint 61 and the movable joint 62, or may be provided in only one of them. The joint information section includes, for example, model information of the robot 1, identification information of the joint 6 in the robot 1, information about the motor used in the joint 6 (for example, the model of the motor and identification information of the joint, the place and date of manufacture of the motor, and various parameters), and information about the transmission used in the joint 6 (for example, identification information of the model and parts of the transmission, the place and date of manufacture of the transmission, and various parameters).

[0056] Furthermore, when joint information units are provided in both the fixed-side joint 61 and the movable-side joint 62, the fixed-side joint information unit 71b preferably includes information regarding the accuracy of the fixed-side alignment mark 71a, and the movable-side joint information unit 72b preferably includes information regarding the accuracy of the movable-side alignment mark 72a, etc. In step ST2, the operator issues a command to start measurement from the teaching operation panel 3, but the command to start measurement can also be issued from a display device and operation unit, etc., provided in the robot control device 2, or from a system control device, etc., that is higher than the robot control device 2.

[0057] The process then proceeds to step ST5, where the joints 6 of the robot 1 are moved, and then the process proceeds to step ST6, where the marks (fixed-side alignment mark 71a and movable-side alignment mark 72a) are imaged by the camera 4 to recognize their positions. The process then proceeds to step ST7, where it is determined whether positioning is complete. If it is determined that positioning is complete (Yes), the process proceeds to step ST8, where the rotational position of the motor is registered in memory 5 as mastering data, and the process ends (END). On the other hand, if it is determined in step ST7 that positioning is not complete (No), the process returns to step ST5, and the process is repeated until positioning is complete.

[0058] Here, while various techniques for mastering based on the fixed-side alignment marks 71 a and the movable-side alignment marks 72 a are known, along with the types of marks 71 a and 72 a, by applying an embodiment of the calibration program for the articulated robot of this embodiment, an operator can easily and correctly master a specific joint of a specific model. That is, by capturing images of the joint information units (the fixed-side joint information unit 71 b and the movable-side joint information unit 72 b) with a camera, it is possible to correctly acquire (recognize), for example, model information of the articulated robot 1 to be mastered, information on the joint 6 to be actually mastered in the articulated robot 1 to be mastered, information on the motor and transmission used in the joint 6 to be mastered, and information on the accuracy of the fixed-side alignment marks 71 a and the movable-side alignment marks 72 a of the joint 6 to be mastered. As a result, an operator can easily and correctly master a specific joint of a specific model.

[0059] In this way, with regard to the calibration program for the articulated robot according to this embodiment, for example, for each joint 6 of a conventional articulated robot, a fixed-side marker 71 including a fixed-side alignment mark 71a and a fixed-side joint information section 71b is provided at the fixed-side joint 61, and a movable-side marker 72 including a movable-side alignment mark 72a and a movable-side joint information section 72b is provided at the movable-side joint 62, and further, the calibration program for the articulated robot according to this embodiment is installed in the memory 25 of the calibration device (robot control device 2) and executed by the arithmetic processing device 27 (mastering control section 23), thereby achieving the effect that "it becomes possible for an operator to easily and correctly perform mastering of a specific joint of a specific model" as described above.

[0060] The calibration program for the articulated robot according to this embodiment may be provided by being recorded on a computer-readable non-transitory recording medium or a non-volatile semiconductor memory, or may be provided via a wired or wireless communication line. Examples of the computer-readable non-transitory recording medium include optical disks such as CD-ROMs (Compact Disc Read Only Memory) and DVD-ROMs, and hard disk drives. Examples of the non-volatile semiconductor memory include PROMs and flash memories. Furthermore, the program may be distributed from a server device via a wired or wireless LAN or WAN.

[0061] As described above in detail, the articulated robot according to this embodiment allows an operator to easily obtain accurate information about a specific joint of a specific model. Furthermore, the articulated robot, and the articulated robot calibration device and calibration program according to this embodiment allow an operator to easily and correctly master a specific joint of a specific model.

[0062] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used to describe the above-described embodiments.

[0063] The following supplementary notes are further disclosed regarding the above embodiment and modified examples. [Supplementary Note 1] An articulated robot (1) having a plurality of joints (6, J1 to J6), wherein a joint information unit (71b, 72b) storing joint information for each of the joints (6, J1 to J6) is provided near the joint (6, J1 to J6). [Supplementary Note 2] The articulated robot (1) according to Supplementary Note 1, wherein the joint information includes at least one of model information of the articulated robot (1), identification information of the joints (6, J1 to J6) in the articulated robot (1), information about the motor used in the joint (6, J1 to J6), and information about the transmission used in the joint (6, J1 to J6). [Supplementary Note 3] The articulated robot (1) according to Supplementary Note 1 or Supplementary Note 2, wherein the joint information unit (71b, 72b) includes at least one of a one-dimensional code, a two-dimensional code, a symbol, a number, and a letter. [Supplementary Note 4] The articulated robot (1) according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the joints (6, J1 to J6) include a fixed-side joint (61) and a movable-side joint (62), and the joint information unit (71b, 72b) is provided in at least one of the fixed-side joint (61) and the movable-side joint (62) of the joints (6, J1 to J6). [Supplementary Note 5] The articulated robot (1) according to Supplementary Note 4, wherein the fixed-side joint (61) includes a fixed-side alignment mark (71a), and the movable-side joint (62) includes a movable-side alignment mark (72a). [Supplementary Note 6] The articulated robot (1) according to Supplementary Note 4 or Supplementary Note 5, wherein the joint information units (71b, 72b) are provided in both the fixed-side joint (61) and the movable-side joint (62) of the joint, the fixed-side joint information unit (71b) provided in the fixed-side joint (61) includes information on the accuracy of the fixed-side alignment mark (71a), and the movable-side joint information unit (72b) provided in the movable joint (62) includes information on the accuracy of the movable-side alignment mark (72a).[Supplementary Note 7] The articulated robot (1) according to Supplementary Note 6, wherein the fixed-side alignment mark (71a) and the fixed-side joint information portion (71b) are integrally formed as a fixed-side marker (71), and the movable-side alignment mark (72a) and the movable-side joint information portion (72b) are integrally formed as a movable-side marker (72). [Supplementary Note 8] The articulated robot according to Supplementary Note 7, wherein the fixed-side marker (71) and the movable-side marker (72) are each formed as a durable metal or resin sheet. [Supplementary Note 9] The articulated robot (1) according to Supplementary Note 7 or Supplementary Note 8, wherein the fixed-side marker (71) and the movable-side marker (72) are each formed as a sticker that can be attached to the fixed-side joint (61) and the movable-side joint (62), respectively. [Supplementary Note 10] A calibration device for calibrating a specific joint in the articulated robot according to any one of Supplementary Note 5 to Supplementary Note 9, comprising: an image processing unit (22) provided near the specific joint and configured to receive and process images of the joint information unit, the fixed-side alignment mark (71 a), and the movable-side alignment mark (72 a) captured by a visual sensor, and a mastering control unit (23) configured to control a motor of the specific joint to change the relative positions of the fixed-side alignment mark (71 a) and the movable-side alignment mark (72 a) based on the joint information stored in the joint information unit, and to calibrate the specific joint based on outputs of detectors provided in the motors and the relative positions of the fixed-side alignment mark (71 a) and the movable-side alignment mark (72 a). [Supplementary Note 11] The calibration device for a articulated robot according to Supplementary Note 10, wherein the calibration device for a articulated robot is built into a robot control unit (2) that controls the articulated robot (1).[Supplementary Note 12] A calibration program for calibrating a specific joint in the articulated robot according to any one of Supplementary Note 5 to Supplementary Note 9, the calibration program causing an arithmetic processing device to execute the following steps: receiving and processing images of the joint information unit, the fixed-side alignment mark (71 a), and the movable-side alignment mark (72 a) captured by a visual sensor provided in the vicinity of the specific joint; controlling a motor of the specific joint so as to change the relative positions of the fixed-side alignment mark (71 a) and the movable-side alignment mark (72 a) based on the joint information stored in the joint information unit; and calibrating the specific joint based on the output of a detector provided in the motor and the relative positions of the fixed-side alignment mark (71 a) and the movable-side alignment mark (72 a).

[0064] 1 Articulated robot (industrial robot, robot) 2 Robot control device 3 Teaching operation panel 4 Camera (visual sensor) 6, J1 to J6 Joints (rotation axis) 11 Arm 11A Hand unit (end effector) 21 Camera I / F 22 Image processing unit 23 Mastering control unit 24 Teaching operation panel I / F 25 Memory (storage unit) 26 Program control unit 27 Arithmetic processing device 31 Display screen 32 Operation unit 40 LED lighting (lighting device) 51 Work table 52 Workpiece (object) 61 Fixed side joint 62 Movable side joint 71 Fixed side marker 71a Fixed side alignment mark 71b Fixed side joint information unit 72 Movable side marker 72a Movable side alignment mark 72b Movable side joint information unit r Axis θ1 to θ6 Rotation angle (axis angle)

Claims

1. An articulated robot having a plurality of joints, wherein a joint information unit storing joint information relating to each of the joints is provided near the joint.

2. The articulated robot according to claim 1, wherein the joint information includes at least one of model information of the articulated robot, identification information of a joint in the articulated robot, information about the motor used in the joint, and information about the transmission used in the joint.

3. The articulated robot according to claim 1 or claim 2, wherein the joint information unit includes at least one of a one-dimensional code, a two-dimensional code, a symbol, a number, and a letter.

4. A multi-joint robot according to any one of claims 1 to 3, wherein the joints include a fixed joint and a movable joint, and the joint information unit is provided in at least one of the fixed joint and the movable joint of the joint.

5. The articulated robot according to claim 4, wherein the fixed joint includes a fixed alignment mark, and the movable joint includes a movable alignment mark.

6. A multi-joint robot as described in claim 4 or claim 5, wherein the joint information unit is provided in both the fixed joint and the movable joint of the joint, the fixed joint information unit provided in the fixed joint includes information regarding the accuracy of the fixed side alignment mark, and the movable joint information unit provided in the movable joint includes information regarding the accuracy of the movable side alignment mark.

7. The articulated robot according to claim 6, wherein the fixed-side alignment mark and the fixed-side joint information part are integrally formed as a fixed-side marker, and the movable-side alignment mark and the movable-side joint information part are integrally formed as a movable-side marker.

8. The articulated robot according to claim 7, wherein the fixed side marker and the movable side marker are each formed as a durable metal or resin sheet.

9. The articulated robot according to claim 7 or 8, wherein the fixed-side marker and the movable-side marker are formed as stickers that can be attached to the fixed-side joint and the movable-side joint, respectively.

10. A calibration device for calibrating a specific joint in a multi-joint robot as defined in any one of claims 5 to 9, comprising: an image processing unit provided in the vicinity of the specific joint, which receives and processes images of the joint information unit, the fixed-side alignment mark, and the movable-side alignment mark captured by a visual sensor; and a mastering control unit which controls the motor of the specific joint to change the relative positions of the fixed-side alignment mark and the movable-side alignment mark based on the joint information stored in the joint information unit, and calibrates the specific joint based on the output of a detector provided in the motor and the relative positions of the fixed-side alignment mark and the movable-side alignment mark.

11. The calibration device for a multi-joint robot according to claim 10, wherein the calibration device for a multi-joint robot is built into a robot control device that controls the multi-joint robot.

12. A calibration program for calibrating a specific joint in a multi-joint robot as defined in any one of claims 5 to 9, comprising a processor that executes the following steps: receiving and processing images of the joint information unit, the fixed-side alignment mark, and the movable-side alignment mark captured by a visual sensor provided in the vicinity of the specific joint; controlling the motor of the specific joint so as to change the relative positions of the fixed-side alignment mark and the movable-side alignment mark based on the joint information stored in the joint information unit; and calibrating the specific joint based on the output of a detector provided in the motor and the relative positions of the fixed-side alignment mark and the movable-side alignment mark.

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