Spraying robot demonstrator and method

Abstract

The invention discloses a spraying robot demonstrator and a method with regard to the technical problems. According to the invention, IMU sampling data and UWB sampling data are fused to obtain the position and posture of a spraying gun in a spraying process, and robot non-programming demonstration is realized; IMU accumulative error compensation is realized by using UWB positioning data, the independence of the IMU data is ensured, and IMU error accumulation is processed; high anti-interference performance and low influence of industrial factors such as a light source and a magnetic field are achieved; an operator can demonstrate by using a usual habitual manual operation posture, the operation is simple and labor-saving, and the field experience of the operator is easy to reproduce; the demonstrated spraying effect is obtained as soon as seen, so that the professional skill grade requirement of the spraying operator is reduced; and the spraying robot demonstrator and the method are suitable for spraying demonstration for a universal multi-axis industrial robot.

Description

technical field [0001] The invention relates to the technical field of spraying robot teaching, in particular to a spraying robot teaching device and method for compound sampling based on an inertial measurement unit (IMU) and an ultra-wideband (UWB) tag. Background technique [0002] Spraying robot, that is, a robot carrying a spray gun to spray the surface of a workpiece. Due to its excellent repeatability, spraying quality and efficiency, it can effectively reduce the harm of spraying environment to operators. At present, direct teaching is commonly used for spraying robots. Direct teaching can be divided into teaching box teaching and hand teaching. [0003] The teaching of the teaching box is performed by the operator on the job site by operating the teaching box to control the movement of the robot, plan the spraying path and spray gun posture, record the coordinates of a large number of feature points in the spraying operation, set the spraying parameters, and compl...

AI Technical Summary

Problems solved by technology

However, since the teaching process requires dragging the end of the robot to make it move and sampling and recording joint coordinate data by time division, a dedicated robot and controller are required for hand-held teaching, and general-purpose industrial robots cannot be used for hand-held teaching

In addition, dragging the spray gun at the end of the robot for teaching, due to the large joint constraints and the overall inertia of the robot, the teaching operation is not flexible, and it is difficult for the robot to obtain the optimal spraying speed and other motion parameters. The operator consumes a lot of energy and the motion efficiency is difficult. Improvement, unable to adapt to some fast and complex motion operations, this problem has become an obstacle to the popularization and application of hand-held teaching technology

[0005] The publication date is 2020.03.27, and the publication number is CN110919626A Chinese patent application: a robot hand-held teaching device and method based on stereo vision Provides a solution based on stereo vision, obtains the position of the light spot through a stereo camera, and combines the posture The chip measures the attitude of the pose measuring rod to obtain the pose information of the set point on the teaching path; however, the visual technology is greatly affected by the light source, and the position of the light spot on the teaching pendant is easily blocked, resulting in the teaching track cannot be rotated Angle is too large

Therefore, the prior art still has certain limitations

Images