Optical measurement device for setting spraying path of spraying robot

Abstract

The invention discloses an optical measurement device for setting a spraying path of a spraying robot. The optical measurement device comprises a conveying table, a light curtain sensor, a deep video camera and multiple data interfaces. The conveying table is used for conveying a sprayed workpiece from one end of the conveying table to the other end of the conveying table. The light curtain sensor comprises two groups of light curtain transmitters and receivers, and the two groups of light curtain transmitters and receivers are used for measuring and recording the projection view of the first side of the sprayed workpiece and the projection view of the second side of the sprayed workpiece respectively when the sprayed workpiece is conveyed through the conveying table. The deep video camera is used for measuring and recording the projection view of the third side of the sprayed workpiece according to the distance difference between the sprayed workpiece and the background of the conveying table. The projection view information of the first side, the second side and the third side is transmitted to a main control device through the multiple data interfaces, and the spraying path of the spraying robot is calculated through the main control device according to the projection views.

Description

technical field [0001] The invention relates to the field of spraying, in particular to an optical measuring device for setting the spraying path of a spraying robot. Background technique [0002] The use of spraying robots in the spraying industry can avoid artificial long-term exposure to toxic and harmful production environments. At present, the programming methods for spraying robots mainly include manual teaching method and offline programming method. In the manual teaching method, experienced workers operate the robot control handle to gradually move the position of the spray gun to complete the setting of the entire spray path. By recording and saving the parameter changes and positions of the end joints of the robot, the robot can repeat the original motion trajectory to realize automatic spraying. This method has relatively high labor costs. [0003] The off-line programming method requires the use of computer graphics technology to pre-generate the spraying work...

AI Technical Summary

Problems solved by technology

However, the robot offline programming software used in practical applications is relatively complicated to operate, and requires an accurate CAD model or 3D model of the workpiece in order to simulate a more accurate spraying path

However, in the production environment where the accuracy of spraying paths is not high, such as furniture panels, these panel workpieces often do not have CAD or 3D models, so offline programming software cannot be used to simulate and generate spraying paths

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