A multi-color spraying robot using displacement sensor assisted teaching and use method thereof

Abstract

The invention relates to the technical field of spraying robots, in particular to a multi-color spraying robot using displacement sensing to assist teaching and a method of using the robot, comprising a teaching work controller, a teaching motor, a displacement sensing device and a mechanical arm with three axes of X, Y and Z; the teaching work controller is connected to a laser displacement sensor and a teaching motor, and the working motor is connected to a main working controller; the teaching signal generated by the laser displacement sensor is received by the teaching work controller and transmitted to the teaching motors of each axis, the teaching motor drives each axis to move, and the working motor is started at the same time and has the same movement state as the teaching motor; the main working controller reads the working signal of the working motor and stores it, and then controls the working motor to drive each axis to perform repeated work; the device can be completely independent of professional programming, and the mechanical arm can be moved with the help of a displacement sensing gun handle without strong dragging, thereby simplifying complex programming conversion, greatly improving production efficiency and saving production costs.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying robots, and in particular to a multi-color spraying robot using displacement sensing to assist teaching and a use method thereof. Background Art

[0002] Spraying operations are widely used in bathroom, furniture, automobile, ship fishing gear, aerospace and other fields; spraying robots have gradually replaced manual spraying due to their advantages of high spraying efficiency and stable quality. At present, most spraying machines on the market are equipped with manipulators, and then the manipulator's movements are completed through control programming; or the manipulator is directly dragged and operated manually, and then the working action is completed through the manipulator's teaching and learning. In the prior art, programming manipulators requires professional programmers, and the programming time is relatively long, and proofreading and modification are required; the manipulator has large resistance, and direct human dragging and teaching operation cannot guarantee the manipulator's flexible and smooth movement, which can easily cause spraying to be inadequate or over-positioned, and cannot meet the requirements of fine and precise spraying.

[0003] In addition, the existing spraying robots control a small number of spray guns, and the spraying machines have fewer colors, so the workpieces need to be changed frequently; multi-color spraying requires multiple robot spraying machines, which are completed through repeated spraying on a long assembly line; and the assembly line robot spraying machine occupies a large space and requires two to three people to operate the machine. If any workstation fails, the entire line will stop working. Summary of the invention

[0004] The purpose of this application is to provide a multi-color spraying robot and a method of use that use displacement sensing to assist teaching, aiming to solve the problems in the prior art.

[0005] The embodiment of the present application provides a multi-color spraying robot using displacement sensing assisted teaching, including a frame and a displacement sensing teaching system; the displacement sensing teaching system includes a teaching work controller, a teaching motor, a displacement sensing device and X-axis, Y-axis, and Z-axis mechanical arms; an X-axis teaching motor and an X-axis working motor are respectively provided at both ends of the X-axis mechanical arm; the bottom of the X-axis mechanical arm is slidably connected to two Y-axis mechanical arms; the two Y-axis mechanical arms are respectively equipped with a Y-axis teaching motor and a Y-axis working motor; the Z-axis mechanical arm is slidably connected to the X-axis mechanical arm; a spray gun is slidably connected to the Z-axis mechanical arm; a Z-axis teaching motor and a Z-axis working motor are respectively installed at both ends of the Z-axis mechanical arm; the displacement sensing device includes a displacement Photosensitive gun handle and rangefinder board; the rangefinder board is an angle-shaped structure composed of three vertical plates connected to each other; a laser displacement sensor is respectively arranged on the position surfaces corresponding to the three vertical plates of the displacement photosensitive gun handle and the rangefinder board; the teaching work controller is connected to the laser displacement sensor and the teaching motor, and the working motor is connected to the main working controller; the teaching signal generated by the laser displacement sensor is received by the teaching work controller and transmitted to the teaching motor of each axis, the teaching motor drives each axis to move, and the working motor is started at the same time with the same movement state as the teaching motor; the main working controller reads the working signal of the working motor and stores it, and then controls the working motor to drive each axis to perform repeated work; the displacement sensing teaching system is arranged in front of the paint spraying room.

[0006] Furthermore, a B-axis angle control encoder is provided at the bottom of the displacement light sensing gun handle, and a paint spray switch is provided at the handle of the displacement light sensing gun handle; the spray gun is arranged on the side of the Z-axis mechanical arm close to the paint spray room, and a multi-color paint box is provided on the top of the Z-axis mechanical arm; the spray gun includes multiple nozzles, a B-axis spray gun stand, a paint spray control cylinder and a gun trigger; a B-axis teaching motor and a B-axis working motor are installed on the right side of the spray gun; the B-axis teaching motor and the B-axis working motor are both connected to the B-axis spray gun stand; the spray head is connected to the multi-color paint box through a paint delivery pipe.

[0007] Furthermore, a fixture placement table is provided in the paint spraying room; the fixture placement table includes multiple rotating chucks and fixed vertical shafts; adjustment seats are provided on the upper and lower sides of the rotating chucks; a multi-axis rotating eccentric base is provided at the bottom of the lower adjustment seat; an A-axis rotating eccentric base is connected to the bottom of the multi-axis rotating eccentric base; an A-axis teaching motor and an A-axis working motor are provided on the bottom surface of the fixture placement table; an A-axis angle control encoder is provided on the top surface of the X-axis robotic arm; and the A-axis angle control encoder is connected to the teaching work controller.

[0008] Furthermore, a spray gun control panel is provided on the side of the spray booth; the spray gun control panel is connected to the teaching work controller and the main work controller.

[0009] Furthermore, a connecting device is provided between the teaching motor and the working motor, so that the two motors can move synchronously.

[0010] Furthermore, a teaching operation is first performed. The handheld displacement light-sensing gun handle is slid to the left along the X-axis direction in the distance measuring board. The laser displacement sensor transmits and receives the light-sensing distance signal reflected by the distance measuring board, senses the movement signal of the gun handle moving to the left away from the distance measuring board, and transmits it to the teaching work controller to control the X-axis teaching motor to drag the Z-axis mechanical arm to slide to the left. Similarly, controlling the gun handle to move along the Y and Z directions can drag the X-axis mechanical arm and the spray gun to move accordingly, thereby controlling the movement process of the spray gun; at the same time, manually rotate the B-axis angle control encoder, and the signal generated by it is transmitted to the teaching work controller to command the B-axis teaching motor to rotate the B-axis spray gun holder to a corresponding angle, thereby adjusting the spray angle of the spray gun. During the spraying process, the A-axis angle control encoder is manually rotated, and the electrical signal generated by the encoder is transmitted to the teaching work controller to command the A-axis teaching motor to rotate the A-axis rotating eccentric base, adjust the angle of the mold to be sprayed, and spray the mold 360° comprehensively; when multi-color spraying is required, the opening of different color nozzles can be controlled through the spray gun control panel to complete multi-color spraying of the same mold; during the teaching operation, the teaching motor and the working motor have the same motion state. When the teaching operation is completed, the main working controller records the motion signals of each working motor, and then controls each working motor to repeat the working process according to the received signals, and completes the spraying work of the remaining molds in turn.

[0011] The beneficial effects of the present invention are: the equipment is completely independent of professional programming, and uses a displacement sensing gun handle to move the mechanical arm, without the need for strong dragging, which simplifies the conversion of complex programming; at the same time, it improves the situation where the sprayed products are too rough due to the ordinary dragging control method, and improves the quality and fineness of the sprayed products. The 360° multi-station rotatable fixture is accurately positioned, and the action programming of one product can be copied to other station products, thereby achieving product consistency; multi-color spraying of the product can be completed by controlling the control panel to open different nozzles, saving the floor space occupied by the spraying operation; at the same time, one person can operate multiple machines at the same time, and the production efficiency is improved many times. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the overall structure diagram of the present invention.

[0013] Figure 2 Schematic diagram of the robot structure in the X, Y, and Z directions.

[0014] Figure 3 This is a schematic diagram of the fixture placement table structure.

[0015] Figure 4 It is a schematic diagram of the structure of the displacement light-sensing gun handle and the rangefinder board.

[0016] Figure 5 Schematic diagram of the spray gun structure.

[0017] In the figure:

[0018] 1. Rack; 2. Distance measuring board; 3. Displacement light sensing gun handle; 301. Laser displacement sensor; 302. B-axis angle control encoder; 303. Paint spray switch; 4. Fixture placement table; 401. Fixed vertical axis; 402. Adjustment seat; 403. Rotating chuck; 404. Multi-axis rotating eccentric base; 405. A-axis rotating eccentric base; 406. Main rotating shaft; 407. Eccentric rotating shaft; 5. X-axis mechanical arm; 6. Y-axis mechanical arm; 7. Z-axis mechanical arm; 8. Multi-color paint box; 9. Main working controller; 10. Teaching working controller; 1 1. Spray gun; 110. Spray head; 111. B-axis spray gun stand; 112. Paint spray control cylinder; 12. Paint spray room; 13. Spray gun control panel; 14. A-axis angle control encoder; 15. Displacement sensor control panel; 901. Y-axis working motor; 101. Y-axis teaching motor; 902. X-axis working motor; 102. X-axis teaching motor; 903. Z-axis working motor; 103. Z-axis teaching motor; 904. B-axis working motor; 104. B-axis teaching motor; 905. A-axis working motor; 105. A-axis teaching motor. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] like Figure 1 and Figure 2The multi-color spraying robot shown in the figure uses displacement sensing to assist teaching, including a frame 1 and a displacement sensing teaching system; the displacement sensing teaching system includes a teaching work controller 10, a teaching motor, a displacement sensing device and X-axis, Y-axis, and Z-axis mechanical arms; the two ends of the X-axis mechanical arm 5 are respectively provided with an X-axis teaching motor 102 and an X-axis working motor 902; the bottom of the X-axis mechanical arm 5 is slidably connected to two Y-axis mechanical arms 6; the two Y-axis mechanical arms 6 are respectively equipped with a Y-axis teaching motor 101 and a Y-axis working motor 901; the Z-axis The mechanical arm 7 is slidably connected to the X-axis mechanical arm 5; the spray gun 11 is slidably connected to the Z-axis mechanical arm 7; the Z-axis teaching motor 103 and the Z-axis working motor 903 are respectively installed at both ends of the Z-axis mechanical arm 7; wherein a slider is provided on the top of the Y-axis mechanical arm 7, the X-axis mechanical arm 5 is located on the slider, the Y-axis teaching motor 101 and the Y-axis working motor 901 can drag the slider to slide on the Y-axis mechanical arm 7, thereby causing the X-axis mechanical arm to slide; similarly, the two motors on the X-axis control the sliding of the Z-axis mechanical arm, and the two motors on the Z-axis control the sliding of the spray gun; Figure 4 As shown, the displacement sensing device includes a displacement light-sensitive gun handle 3 and a distance-measuring plate 2; the distance-measuring plate 2 is an angle-shaped structure composed of three vertical plates connected to each other; a laser displacement sensor 301 is respectively arranged on the position surfaces corresponding to the three vertical plates of the displacement light-sensitive gun handle 3 and the distance-measuring plate 2; the teaching work controller 10 is connected to the laser displacement sensor 301 and the teaching motor, and the working motor is connected to the main working controller 9; the teaching signal generated by the displacement sensing device is received by the teaching work controller 10 and transmitted to the teaching motors of the corresponding axes, the teaching motor drives the axes to move, and the working motor is started at the same time with the same motion state as the teaching motor; the main working controller 9 reads the working signal of the working motor and stores it, and then controls the working motor to drive the axes to perform repeated work; the displacement sensing teaching system can be installed on the frame 1 and arranged in front of the spray booth 12.

[0021] like Figure 4 As shown, the bottom of the displacement light sensing gun handle 3 is provided with a B-axis angle control encoder 302, and the handle of the displacement light sensing gun handle 3 is provided with a paint spray switch 303; Figure 5 As shown, the spray gun 11 is arranged on one side of the Z-axis robot 7 close to the paint spraying room 12; a multi-color paint box 8 is arranged on the top of the Z square robot 7; the spray gun 11 includes a plurality of nozzles 110, a B-axis spray gun rack 111 and a paint spraying control cylinder 112; the cylinder is controlled by the paint spraying switch 303 of the displacement light sensing gun handle 3, and the cylinder starts the nozzle 110 to spray paint outward by pressing the paint spraying switch 303; the B-axis teaching motor 104 and the B-axis working motor 904 are installed on the right side of the spray gun 11; the B-axis teaching motor 104 and the B-axis working motor 904 are both connected to the B-axis spray gun rack 111; the nozzle 110 is connected to the multi-color paint box 8 through a paint delivery pipe.

[0022] like Figure 3 As shown, a fixture placement table 4 is provided in the spray booth 12; the fixture placement table 4 includes a plurality of rotating chucks 403 and a fixed vertical shaft 401; the rotating chuck 403 is provided with an adjustment seat 402 on both the upper and lower sides, and the rotating chuck 403 is rotatably connected to the adjustment seat 402; a multi-axis rotating eccentric base 404 is provided at the bottom of the lower adjustment seat 402, and the rotating chuck 403 is connected to the multi-axis rotating eccentric base 404; an A-axis rotating eccentric base 405 is connected below the multi-axis rotating eccentric base 404; an A-axis teaching motor 105 and an A-axis working motor 905 are provided on the bottom surface of the fixture placement table 4; an A-axis angle control encoder 14 is provided on the top surface of the X-axis robot arm 5; the A-axis angle control encoder The encoder 14 is connected to the teaching work controller 10; the A-axis teaching motor 105 and the A-axis working motor 905 are both connected to the A-axis rotating eccentric base 405; the eccentric axis of the A-axis rotating eccentric base 405 is the main rotating axis 406; the top of the main rotating axis 406 is connected to the multi-axis rotating eccentric base 404; a plurality of eccentric rotating shafts 407 are arranged on the multi-axis rotating eccentric base 404, the eccentric rotating shaft 407 is in a curved shape, and the top of the eccentric rotating shaft 407 is connected to the rotating chuck 403; due to the eccentric setting of each rotating shaft, when the A-axis rotating eccentric base 405 rotates under the action of the motor, the multi-axis rotating eccentric base 404 drives the rotating chuck 403 to rotate, and drives the mold on the rotating chuck 403 to rotate.

[0023] A displacement sensing control panel 15 is provided on the right side of the external fixing bracket 1, and a spray gun control panel 13 is provided on the side of the paint spraying room 12; the displacement sensing control panel 15 is mainly used to record the trajectory data of the displacement light sensing gun handle 3 controlling the movement of the robotic arm and visualize it; since the spray colors of each nozzle are different, the spray gun control panel 13 is used to select different nozzles and control the paint color; the above two control panels are both connected to the teaching work controller 10 and the main work controller 9.

[0024] A connecting device is provided between the teaching motor and the working motor, which can make the two motors move synchronously. The connecting device between the two motors of the A axis is a gear and a belt, and the connecting device between the two motors of the remaining axes is a connecting shaft.

[0025] First, determine the initial position of the hand-held displacement light-sensitive gun handle 3 in the distance measuring plate 2, and perform the teaching operation according to the shape contour of the mold to be sprayed. The hand-held displacement light-sensitive gun handle 3 slides to the left along the X-axis direction in the distance measuring plate 2. The laser displacement sensor 301 transmits and receives the light-sensitive distance signal reflected by the distance measuring plate 2, and senses that the gun handle moves away from the distance measuring plate 2 to the left, and transmits the signal to the teaching work controller 10 to control the X-axis teaching motor 102 to drag the Z-axis mechanical arm 7 to slide to the left. Similarly, controlling the gun handle to move along the Y and Z directions can drag the X-axis mechanical arm 5 and the spray gun 11 to move accordingly, thereby controlling the movement process of the spray gun 11; at the same time, manually rotating the B-axis angle control encoder 302 generates a signal that is transmitted to the teaching work controller 10 to command the B-axis teaching motor 104 to make the B-axis spray gun holder 111 Rotate the corresponding angle to adjust the spray angle of the spray gun 11; during the spraying process, the A-axis angle control encoder 14 can be manually rotated, and the electrical signal generated by the encoder is transmitted to the teaching work controller 10 to command the A-axis teaching motor 105 to rotate the A-axis rotating eccentric base 405, adjust the angle of the mold to be sprayed, and spray the mold 360° comprehensively; when multi-color spraying is required, the opening of different color nozzles 110 can be controlled by the spray gun control panel 13 to complete multi-color spraying of the same mold; during the teaching operation, the teaching motor and the working motor have the same motion state. When the teaching operation is completed, the main working controller 9 records the motion signals of each working motor, and then controls each working motor to repeat the working process according to the received signals, and completes the spraying work of the remaining molds in turn.

[0026] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A multi-color spraying robot using displacement sensor assisted teaching, characterized in that: It includes a frame and a displacement sensing teaching system; the displacement sensing teaching system includes a teaching work controller, a teaching motor, a displacement sensing device and X, Y and Z axis mechanical arms; the two ends of the X axis mechanical arm are respectively provided with an X axis teaching motor and an X axis working motor; the bottom of the X axis mechanical arm is slidably connected to two Y axis mechanical arms; the two Y axis mechanical arms are respectively provided with a Y axis teaching motor and a Y axis working motor; the Z axis mechanical arm is slidably connected to the X axis mechanical arm; A spray gun is slidably connected to the Z-axis mechanical arm; a Z-axis teaching motor and a Z-axis working motor are respectively installed at both ends of the Z-axis mechanical arm; the displacement sensing device includes a displacement light-sensitive gun handle and a distance-measuring plate; the distance-measuring plate is an angle-shaped structure composed of three vertical plates connected to each other; a laser displacement sensor is respectively arranged on the position surfaces corresponding to the displacement light-sensitive gun handle and the three vertical plates of the distance-measuring plate; the teaching working controller is connected to the laser displacement sensor and the teaching motor, and the working motor is connected to the main working controller; the teaching signal generated by the laser displacement sensor is received by the teaching working controller and transmitted to the teaching motors of each axis, the teaching motor drives each axis to move, and the working motor is started at the same time and has the same movement state as the teaching motor; the main working controller reads the working signal of the working motor and stores it, and then controls the working motor to drive each axis to perform repeated work; the displacement sensing teaching system is arranged right in front of the spray booth.

2. The multi-color spraying robot using displacement sensor assisted teaching according to claim 1, characterized in that: A B-axis angle control encoder is provided at the bottom of the displacement light-sensing gun handle, and a paint spray switch is provided at the handle of the displacement light-sensing gun handle; the spray gun is arranged on the side of the Z-axis mechanical arm close to the paint spray room, and a multi-color paint box is provided on the top of the Z-axis mechanical arm; the spray gun includes multiple nozzles, a B-axis spray gun stand, a paint spray control cylinder and a gun trigger; a B-axis teaching motor and a B-axis working motor are installed on the right side of the spray gun; the B-axis teaching motor and the B-axis working motor are both connected to the B-axis spray gun stand; the spray head is connected to the multi-color paint box through a paint delivery pipe.

3. The multi-color spraying robot using displacement sensor assisted teaching according to claim 1, characterized in that: A fixture placement table is provided in the paint spraying room; the fixture placement table includes multiple rotating chucks and a fixed vertical shaft; adjustment seats are provided on the upper and lower sides of the rotating chuck; a multi-axis rotating eccentric base is provided at the bottom of the lower adjustment seat; an A-axis rotating eccentric base is connected to the bottom of the multi-axis rotating eccentric base; an A-axis teaching motor and an A-axis working motor are provided on the bottom surface of the fixture placement table; an A-axis angle control encoder is provided on the top surface of the X-axis robotic arm; and the A-axis angle control encoder is connected to the teaching work controller.

4. The multi-color spraying robot using displacement sensor assisted teaching according to claim 1, characterized in that: A spray gun control panel is arranged on the side of the spray booth; the spray gun control panel is connected with the teaching work controller and the main work controller.

5. The multi-color spraying robot using displacement sensor assisted teaching according to claim 1, characterized in that: A connecting device is provided between the teaching motor and the working motor, so that the two motors can move synchronously.

6. The method for using a multi-color spraying robot using displacement sensor-assisted teaching according to any one of claims 1 to 5, characterized in that: First, the teaching operation is performed. The handheld displacement light-sensing gun handle slides to the left along the X-axis direction in the distance measuring board. The laser displacement sensor transmits and receives the light-sensing distance signal reflected by the distance measuring board, and senses the movement signal of the gun handle moving to the left away from the distance measuring board. The signal is transmitted to the teaching work controller to control the X-axis teaching motor to drag the Z-axis mechanical arm to slide to the left. Similarly, controlling the gun handle to move along the Y and Z directions can drag the X-axis mechanical arm and the spray gun to move accordingly, thereby controlling the movement process of the spray gun. At the same time, the B-axis angle control encoder is manually rotated, and the signal generated by it is transmitted to the teaching work controller to command the B-axis teaching motor to rotate the B-axis spray gun holder to a corresponding angle, thereby adjusting the spray angle of the spray gun. During the coating process, the A-axis angle control encoder is manually rotated, and the electrical signal generated by the encoder is transmitted to the teaching work controller to command the A-axis teaching motor to rotate the A-axis rotating eccentric base, adjust the angle of the mold to be sprayed, and spray the mold 360° comprehensively; when multi-color spraying is required, the opening of different color nozzles can be controlled through the spray gun control panel to complete multi-color spraying of the same mold; during the teaching operation, the teaching motor and the working motor have the same motion state. When the teaching operation is completed, the main working controller records the motion signals of each working motor, and then controls each working motor to repeat the working process according to the received signals, and completes the spraying work of the remaining molds in turn.

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