Spraying robot demonstrator and method

A technology of spraying robot and teaching method, which is applied in the directions of manipulator, spraying device, program-controlled manipulator, etc., can solve the problems that the robot is difficult to obtain the spraying speed, the visual technology is greatly affected by the light source, and is easily blocked.

Pending Publication Date: 2021-09-07
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 t...

Method used

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  • Spraying robot demonstrator and method
  • Spraying robot demonstrator and method
  • Spraying robot demonstrator and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0050] A spraying robot teaching device, please refer to figure 1 , including a spray gun 3 that can be installed on a spraying robot, the spray gun 3 is provided with an MCU, an IMU, and a UWB tag for three-dimensional positioning; the MCU is used to control the IMU and the UWB tag, and the IMU and the UWB tag The sampling data and the spraying parameters of the spray gun 3 are stored and transmitted.

[0051] As a preferred embodiment, the MCU keeps time synchronization between the IMU and the sampling data of the UWB tag and the spraying parameters of the spray gun 3 through a unified time stamp.

[0052] Specifically, the working modes of the teaching pendant of the painting robot include a teaching mode, in which the operator can hold the teaching pendant of the painting robot to perform manual teaching, that is, to perform a spraying operation on a workpiece.

[0053] The MCU, IMU and UWB tags can be integrated into a PCB board located on the spray gun 3, and the MCU co...

Embodiment 2

[0088] A spraying robot teaching system, please refer to Image 6 , comprising a pose transformation matrix acquisition module 10, a teaching data acquisition module 20, a data fusion module 30, a robot inverse kinematics solution module 40, and a control program generation module 50; the data fusion module 30 is connected to the teaching data acquisition module 20 and the robot inverse kinematics solution module 40, the robot inverse kinematics solution module 40 is connected to the pose transformation matrix acquisition module 10 and the control program generation module 50, and the control program generation module 50 is connected to the teaching data acquisition module Module 20; where:

[0089] The pose transformation matrix acquisition module 10 is used to establish the installation position of the spray gun and the pose transformation matrix of the spray gun by acquiring the connecting rod parameters, joint parameters and the installation pose of the spray gun on the ta...

Embodiment 3

[0095] A medium, on which a computer program is stored, and when the computer program is executed by a processor, the data processing steps of the teaching method for a painting robot in Embodiment 1 are realized.

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J11/00B05B13/04
CPCB25J9/0081B25J11/0075B05B13/0431
Inventor 高伟强郭俊权刘达刘建群梁学胜
Owner GUANGDONG UNIV OF TECH
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