Spraying demonstration device of adopting machine vision and fiber optic gyroscope to position cooperatively

Abstract

The present invention discloses a spraying demonstration device of adopting the machine vision and a fiber optic gyroscope to position cooperatively. The spraying demonstration device comprises a demonstration powder room on which a spray gun device is arranged, a first camera is arranged on the side wall of the demonstration powder room, and a second camera is arranged at the top of the demonstration powder room. The spray gun device is equipped with the fiber optic gyroscope used for acquiring the poses of a demonstration spray gun, and the fiber optic gyroscope is connected with an external multi-shaft controller. According to the present invention, by utilizing the first camera and the second camera to substitute for the complicated mechanical mechanisms in the prior art to obtain the coordinate parameters of the spray gun device, and utilizing the fiber optic gyroscope to obtain the pose parameters of the spray gun device, and using the multi-shaft controller to obtain the coordinate parameters and the pose parameters and then drive a manipulator to reappear the operation process of a demonstration mechanism, the defects that a conventional multi-shaft manipulator is complicated in demonstration mode, the technical requirements are high, etc., can be solved, the flexibility of a multi-shaft manipulator spraying working mode is improved, and the purposes of simplifying the structure of the demonstration device, reducing the production cost, improving the flexibility of the demonstration device and expanding the working range are achieved.

Description

technical field [0001] The invention relates to a teaching device used in the spraying industry, in particular to a spraying teaching device which uses machine vision and an optical fiber gyroscope for positioning. Background technique [0002] In the prior art, the application programming of multi-axis spraying manipulators in the spraying industry is basically completed by programmers by manipulating programmers (teaching boxes) or using dedicated offline programming software. Users need to have higher knowledge and skills, and must Only after special training can they be competent. It is highly dependent on the position of a programming engineer and the operation is not intuitive. After the program is set, it is not easy to modify. [0003] The telescopic spraying teaching mechanism (CN201620587905.8) previously proposed by our company with a hemispherical operating range has problems such as complex structure, high cost, and insufficient operating range. Contents of th...

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Problems solved by technology

[0002] In the prior art, the application programming of multi-axis spraying manipulators in the spraying industry is basically completed by programmers by manipulating programmers (teaching boxes) or using dedicated offline programming software. Users need to have higher knowledge and skills, and must Can only be competent after special training, highly dependent on the position of programming engineer and the operation is not intuitive, it is not easy to modify the program after setting

[0003] The telescopic spraying teaching mechanism (CN201620587905.8) previously proposed by our company with a hemispherical operating range has problems such as complex structure, high cost, and insufficient operating range.

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