Multicolor spraying robot using displacement sensing to assist teaching and using method

Abstract

The invention discloses a multi-color spraying robot applying displacement sensing to assist teaching and a using method, and the multi-color spraying robot applying displacement sensing to assist teaching is characterized in that the multi-color spraying robot applying displacement sensing to assist teaching comprises a workbench, a three-axis moving assembly is arranged at the top of the workbench, and spraying equipment is connected to the three-axis moving assembly; the spraying equipment comprises a spraying gun capable of rotating up and down and left and right, a teaching assembly is connected to the workbench, an auxiliary moving assembly is arranged on the teaching assembly, and a spraying frame assembly used for clamping and driving a part to be sprayed to rotate is further arranged on the workbench. According to the spraying robot, the operation of the teaching assembly can be simpler and more convenient through the auxiliary moving assembly, so that the reliability of teaching work can be effectively improved, it can be guaranteed that the spraying robot can accurately and reliably conduct spraying machining subsequently, and the spraying machining effect and quality of the spraying robot are greatly improved.

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 robots have the advantages of high spraying efficiency and stable quality, and have gradually replaced manual spraying. At present, most spraying machines on the market are equipped with manipulators, and then the movements of the manipulators are completed through control programming so that spraying can be completed automatically. However, with the increasingly fierce market competition, companies must face the production situation of complex structures, variable models, and fast product update cycles of the products to be sprayed. The low programming efficiency cannot meet the frequent changes of products, which restricts the promotion and application of spraying robots. It cannot adapt to the production of multiple varieties of products and frequent changes in workpiece types of small and medium-sized enterprises, so manual teaching is used to quickly complete the planning and storage of spraying paths.

[0003] Teaching refers to gradually manipulating mechanical equipment through a controller so that it can perform the expected actions and memorize and store these actions in the control device. It can gradually manipulate and memorize these actions so that the mechanical equipment can automatically perform tasks according to the preset program, greatly improving work efficiency and operational flexibility. In this way, the spraying path of the spray robot can be quickly converted, which is more suitable for the market situation where product structure models are rapidly replaced. However, most of the existing teaching work requires staff to manually drag the robotic arm along the set spraying route. However, the teaching is carried out by dragging the spray gun at the end of the robot. Due to the joint constraints and the large 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 physical energy, and the motion efficiency is difficult to improve. It cannot adapt to some fast and complex motion operations. This problem has become an obstacle to the promotion and application of hands-on teaching technology.

[0004] The Chinese invention patent with patent application number CN202410802017.2 records a multi-color spraying robot and a method of use that uses displacement sensing to assist teaching. By setting a displacement sensing gun handle, the displacement sensing gun handle is moved instead of directly moving the mechanical arm, and there is no need to drag the mechanical arm vigorously, thereby effectively reducing the intensity of the teaching work, improving the efficiency and accuracy of the teaching work, and improving the spraying efficiency of the spraying robot. However, in the above-mentioned spraying robot, it is necessary to move the displacement sensing gun handle along the X, Y and Z axis directions instead of directly dragging the mobile mechanical arm, and the gun handle can generally only be dragged with one hand, and it is not easy to control the moving distance. At the same time, the rotation of the spray gun and the rotation of the spray rack need to be completed by controlling the B-axis angle control encoder and the A-axis angle control encoder respectively, which makes the teaching operation more difficult, increases the difficulty and labor intensity of the teaching work, and at the same time causes the accuracy and effect of the teaching work to decrease, thereby affecting the spraying effect of the spray robot. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a multi-color spraying robot and a method of use that use displacement sensing to assist in teaching, which solves the problem that when performing teaching operations on existing multi-color spraying robots, the teaching operation is difficult, which reduces the accuracy and effect of the teaching work and thus affects the spraying effect of the spraying robot.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] A multi-color spraying robot using displacement sensor auxiliary teaching comprises a workbench, a three-axis moving assembly is arranged on the top of the workbench, a spraying device is connected to the three-axis moving assembly, the spraying device comprises a spray gun which can be rotated up and down and left and right, a teaching assembly is connected to the workbench, an auxiliary moving assembly is arranged on the teaching assembly, a spraying frame assembly for clamping and driving the workpiece to be sprayed to rotate is also arranged on the workbench, and a central processing unit and a control unit are also installed on the workbench;

[0008] The three-axis moving assembly is used to drive the spraying equipment to move in the front, back, left, right, and up and down directions to spray the parts to be sprayed;

[0009] The auxiliary moving component is used to assist the teaching operation to ensure that the teaching operation is more convenient and labor-saving.

[0010] Preferably, the teaching assembly includes a support plate fixedly connected to the side of the workbench, the top of the support plate is slidably connected to a horizontal plate via a horizontal guide rod, the top of the horizontal plate is slidably connected to a longitudinal plate via a longitudinal guide rod, the top of the longitudinal plate is slidably connected to a teaching block via a vertical guide rod, the left side, back side and top surface of the teaching block are respectively fixedly installed with a horizontal displacement sensor, a longitudinal displacement sensor and a vertical displacement sensor, the top of the horizontal plate is fixedly connected to a horizontal shading plate, the top of the longitudinal plate is fixedly connected to a longitudinal shading plate, the top of the longitudinal shading plate is fixedly connected to a vertical shading plate, and the vertical The shading plate is located directly above the vertical displacement sensor. The advantage of this arrangement is that the teaching block can be driven to move forward, backward, left, right, up and down through the transverse plate, transverse guide rod, longitudinal plate, longitudinal guide rod and vertical guide rod. Combined with the transverse displacement sensor, longitudinal displacement sensor, vertical displacement sensor, transverse shading plate, longitudinal shading plate and vertical shading plate, the moving distance of the teaching block in the forward, backward, left, right, up and down directions can be accurately measured, thereby accurately measuring and recording the moving distance of the spray gun in the forward, backward, left, right, up and down directions, thereby improving the reliability of the teaching work and ensuring the quality and effect of subsequent spraying processing.

[0011] Preferably, the auxiliary moving component includes a first handle and a second handle respectively connected to the left and right sides of the teaching block. The advantage of such an arrangement is that the accuracy and effect of the teaching work are improved, thereby improving the spraying effect and quality of the spray robot.

[0012] Preferably, the auxiliary moving assembly further includes three limiting mechanisms respectively arranged at the bottom of the horizontal plate, the bottom of the vertical plate and inside the teaching block, the three limiting mechanisms are respectively used to position and fix the horizontal plate, the vertical plate and the teaching block, the auxiliary moving assembly further includes a workpiece rotation teaching mechanism connected to the first handle and a spray direction adjustment teaching mechanism arranged on the second handle, the advantage of such a setting is that the teaching block can be separately controlled to move in the horizontal, longitudinal and vertical directions, avoiding the displacement of the teaching block in the non-teaching moving direction, further improving the teaching accuracy and effect. It greatly guarantees the subsequent spraying effect and quality of the spray robot.

[0013] Preferably, the workpiece rotation teaching mechanism includes a first rotating seat fixedly connected to the left side of the teaching block, two first damping rotating shafts are symmetrically rotatably connected to the first rotating seat, and the first handle is fixedly connected between the ends of the two first damping rotating shafts that are close to each other. The workpiece rotation teaching mechanism also includes a first rotation encoder installed on the top of the first rotating seat, and the first rotation encoder is connected to the top of the first damping rotating shaft located on the upper side. The spraying direction adjustment teaching mechanism includes a first rotating rod rotatably connected to the bottom of the second handle through the second rotating seat and the second damping rotating shaft, and a second rotation encoder is installed at the bottom of the second rotating seat, and the second rotation encoder and The bottom end of the second damping shaft is connected, and the spray direction adjustment teaching mechanism also includes a second rotating rod rotatably connected to the end of the first rotating rod through a third damping shaft, and a third rotary encoder is installed on the front of the first rotating rod, and the third rotary encoder is connected to the front end of the second rotating rod. The advantage of this arrangement is that by rotating the first damping shaft, the first rotating rod and the second rotating rod, the rotation angle of the spray part to be sprayed and the up, down, left and right rotation angles of the spray gun can be taught, and then the first rotary encoder, the second rotary encoder and the third rotary encoder can respectively record the rotation angles of the first damping shaft, the first rotating rod and the second rotating rod and send them to the central processor.

[0014] Preferably, a first drive motor is installed on the top of the teaching block, and a rotating block is fixedly connected to the output end of the first drive motor. The rotating block rotates synchronously with the rotation of the first damping shaft. The advantage of such a setting is that the accuracy and reliability of the teaching work of the rotation angle of the sprayed part can be ensured, the effect and reliability of the teaching work are further improved, thereby improving the quality and effect of the spraying process.

[0015] Preferably, it also includes a fixing mechanism arranged on the first handle, the fixing mechanism includes two pressure plates symmetrically connected to the side surfaces of the two first damping shafts through a third rotating rod and a third torsion spring, the two pressure plates can be tightly pressed against the two side surfaces of the first rotating seat respectively, and the fixing mechanism also includes a driving unit arranged on the first handle. The advantage of such a setting is that the rotation of the first damping shaft is not affected by other operations, ensuring that the teaching work of the spray frame assembly for controlling the rotation angle of the workpiece to be sprayed can be carried out reliably and smoothly, further improving the subsequent spraying effect and quality of the spray robot.

[0016] A method for using the multi-color spraying robot comprises the following steps:

[0017] S1: Design the motion trajectory of the spray gun and spray rack assembly in advance;

[0018] S2: operating the teaching component according to the preset motion trajectory of the spray gun and the spray rack component through the auxiliary moving component;

[0019] S3: The teaching component records the movement trajectory of the spray gun and the spray rack component during teaching and sends it to the central processor;

[0020] S4: The central processing unit controls the three-axis moving component, the spraying equipment and the spraying frame component to drive the spray gun and the workpiece to move respectively to complete the spraying work according to the movement trajectory of the spray gun and the spraying frame component recorded and sent by the teaching component.

[0021] In summary, the present invention mainly has the following beneficial effects:

[0022] 1. The auxiliary moving component can make the operation of the teaching component simpler and more convenient, thereby effectively improving the reliability of the teaching work. This can ensure that the subsequent spraying robot can perform spraying processing accurately and reliably, greatly improving the effect and quality of the spraying processing of the spraying robot.

[0023] 2. By setting the first handle and the second handle respectively on the left and right sides of the teaching block, the staff can hold the first handle and the second handle with both hands respectively to simultaneously push the teaching block to move horizontally, longitudinally and vertically respectively. In this way, the teaching block can be controlled to move more stably, ensuring the stability and reliability of the control, reducing the difficulty of the teaching operation, improving the accuracy and effect of the teaching work, and thereby improving the spraying effect and quality of the spray robot.

[0024] 3. By setting the rotating block, the rotation of the first damping shaft can be more intuitively observed by rotating the rotating block synchronously with the first damping shaft. In this way, the accuracy and reliability of the teaching work on the rotation angle of the sprayed part can be guaranteed, and the effect and reliability of the teaching work can be further improved, thereby improving the quality and effect of the spraying process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of a multi-color spraying robot using displacement sensor-assisted teaching in the present invention;

[0026] Figure 2 This is a schematic diagram of a first partial structure of a multi-color spraying robot using displacement sensor-assisted teaching in the present invention;

[0027] Figure 3 This is a second partial structural schematic diagram of a multi-color spraying robot using displacement sensor-assisted teaching in the present invention;

[0028] Figure 4 This is a third partial structural schematic diagram of a multi-color spraying robot using displacement sensor-assisted teaching in the present invention;

[0029] Figure 5 This is a fourth partial structural schematic diagram of a multi-color spraying robot using displacement sensor-assisted teaching in the present invention;

[0030] Figure 6 is a partial front cross-sectional view of the teaching assembly of the present invention;

[0031] Figure 7 The present invention Figure 1 The enlarged schematic diagram of point A in the middle;

[0032] Figure 8 The present invention Figure 2 The enlarged schematic diagram of point B in the middle;

[0033] Fig. 9 The present invention Figure 3 The enlarged schematic diagram of the center C;

[0034] Fig.10 The present invention is a flowchart of a method for using a multi-color spraying robot using displacement sensing to assist in teaching.

[0035] Figure numerals: 1, workbench; 2, three-axis moving assembly; 21, horizontal moving mechanism; 22, longitudinal moving mechanism; 23, vertical moving mechanism; 3, spraying equipment; 31, spray gun; 4, teaching assembly; 41, support plate; 42, horizontal plate; 43, longitudinal plate; 44, teaching block; 45, horizontal displacement sensor; 451, horizontal shading plate; 46, longitudinal displacement sensor; 461, longitudinal shading plate; 47, vertical displacement sensor; 471, vertical shading plate; 5, auxiliary moving assembly; 51, first handle; 52, second handle; 53, limit Positioning mechanism; 531, electric push rod; 532, squeezing plate; 54, workpiece rotation teaching mechanism; 541, first rotating seat; 542, first damping shaft; 543, first rotation encoder; 55, spray direction adjustment teaching mechanism; 551, first rotating rod; 552, second rotation encoder; 553, second rotating rod; 554, third rotation encoder; 56, fixing mechanism; 561, pressure plate; 562, driving unit; 5621, first elastic member; 5622, grip rod; 5623, pull rope; 5624, limiting roller; 57, control button. DETAILED DESCRIPTION

[0036] 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.

[0037] Example 1

[0038] See also Figure 1-Figure 9 A multi-color spraying robot using displacement sensor auxiliary teaching includes a workbench 1, a three-axis moving component 2 is provided on the top of the workbench 1, a spraying device 3 is connected to the three-axis moving component 2, the spraying device 3 includes a spray gun 31 that can be rotated up and down and left and right, a teaching component 4 is connected to the workbench 1, an auxiliary moving component 5 is provided on the teaching component 4, a spraying frame component 7 for clamping and driving the workpiece to be sprayed to rotate is also provided on the workbench 1, and a central processing unit and a control unit are also installed on the workbench 1;

[0039] The three-axis moving assembly 2 includes a lateral moving mechanism 21, a longitudinal moving mechanism 22 and a vertical moving mechanism 23, which can be used to drive the spraying device 3 to move in the front, back, left, right and up and down directions to spray the parts to be sprayed;

[0040] The auxiliary moving component 5 is used to assist the teaching operation to ensure that the teaching operation is more convenient and labor-saving;

[0041] A plurality of clamping members are equidistantly arranged from left to right on the spray frame assembly 7 , and the clamping members can clamp the workpiece to be sprayed and drive it to rotate, so as to coordinate with the movement and rotation of the spray gun 31 to fully and thoroughly complete the multi-color spraying work.

[0042] See also Figure 1-Figure 6 The teaching assembly 4 includes a support plate 41 fixedly connected to the side of the workbench 1, the top of the support plate 41 is slidably connected to a horizontal plate 42 through a horizontal guide rod, the top of the horizontal plate 42 is slidably connected to a vertical plate 43 through a longitudinal guide rod, the top of the vertical plate 43 is slidably connected to a teaching block 44 through a vertical guide rod, and the left side, back side and top surface of the teaching block 44 are respectively fixedly installed with a horizontal displacement sensor 45, a longitudinal displacement sensor 46 and a vertical displacement sensor 47, a horizontal shading plate 451 is fixedly connected to the top of the horizontal plate 42, a longitudinal shading plate 461 is fixedly connected to the top of the longitudinal shading plate 43, a vertical shading plate 471 is fixedly connected to the top of the longitudinal shading plate 461, and the vertical shading plate 471 is located directly above the vertical displacement sensor 47.

[0043] Specifically, the transverse plate 42, transverse guide rod, longitudinal plate 43, longitudinal guide rod and vertical guide rod can drive the teaching block 44 to move forward, backward, left, right, up and down, and cooperate with the transverse displacement sensor 45, longitudinal displacement sensor 46, vertical displacement sensor 47, transverse light shielding plate 451, longitudinal light shielding plate 461 and vertical light shielding plate 471 to accurately measure the moving distance of the teaching block 44 in the forward, backward, left, right, up and down directions, thereby accurately measuring and recording the moving distance of the spray gun 31 in the forward, backward, left, right, up and down directions, thereby improving the reliability of the teaching work and ensuring the quality and effect of the subsequent spraying process.

[0044] Example 2

[0045] According to Example 1, please refer to Figure 2-Figure 9 The auxiliary moving assembly 5 includes a first handle 51 and a second handle 52 respectively connected to the left side and the right side of the teaching block 44.

[0046] Specifically, by holding the first handle 51 and the second handle 52 with both hands respectively to simultaneously push the teaching block 44 to move in the horizontal, longitudinal and vertical directions respectively, the teaching block 44 can be more stably controlled to move, thereby ensuring the stability and reliability of the control, reducing the difficulty of the teaching operation, and improving the accuracy and effect of the teaching work, thereby improving the spraying effect and quality of the spray robot.

[0047] See also Figure 6 and Figure 8 The auxiliary moving assembly 5 also includes three limiting mechanisms 53 respectively arranged at the bottom of the horizontal plate 42, the bottom of the vertical plate 43 and the inside of the teaching block 44, and the three limiting mechanisms 53 are respectively used to limit and fix the positions of the horizontal plate 42, the vertical plate 43 and the teaching block 44. The auxiliary moving assembly 5 also includes a workpiece rotation teaching mechanism 54 connected to the first handle 51 and a spray direction adjustment teaching mechanism 55 arranged on the second handle 52;

[0048] The limiting mechanism 53 includes an electric push rod 531, and the output end of the electric push rod 531 is fixedly connected with a squeezing plate 532. The squeezing plates 532 of the three limiting mechanisms 53 can be squeezed on the top of the support plate 41, the top of the horizontal plate 42 and the side of the vertical guide rod respectively, so that the horizontal plate 42, the vertical plate 43 and the teaching block 44 can be fixed and limited respectively.

[0049] Specifically, the teaching block 44 can be fixed and limited in the horizontal, longitudinal and vertical directions by three limiting mechanisms 53, so that the teaching block 44 can be controlled to move in the horizontal, longitudinal and vertical directions separately, avoiding the teaching block 44 from deviating in the non-teaching movement direction, further improving the teaching accuracy and effect, and greatly ensuring the subsequent spraying effect and quality of the spraying robot.

[0050] See also Figure 7-Figure 9The workpiece rotation teaching mechanism 54 includes a first rotating seat 541 fixedly connected to the left side of the teaching block 44, and two first damping rotating shafts 542 are symmetrically rotatably connected to the first rotating seat 541. The first handle 51 is fixedly connected between the ends of the two first damping rotating shafts 542 that are close to each other. The workpiece rotation teaching mechanism 54 also includes a first rotation encoder 543 installed on the top of the first rotating seat 541, and the first rotation encoder 543 is connected to the top of the first damping rotating shaft 542 located on the upper side. The spraying direction adjustment teaching mechanism 55 includes a first rotating rod 551 rotatably connected to the bottom of the second handle 52 through a second rotating seat and a second damping rotating shaft, a second rotating encoder 552 is installed at the bottom of the second rotating seat, and the second rotating encoder 552 is connected to the bottom end of the second damping rotating shaft. The spraying direction adjustment teaching mechanism 55 also includes a second rotating rod 553 rotatably connected to the end of the first rotating rod 551 through a third damping rotating shaft, a third rotating encoder 554 is installed on the front of the first rotating rod 551, and the third rotating encoder 554 is connected to the front end of the second rotating rod 553.

[0051] Specifically, by rotating the first damping shaft 542, the first rotating rod 551 and the second rotating rod 553, the rotation angle of the spray part to be sprayed and the up, down, left and right rotation angles of the spray gun 31 can be taught, and then the first rotation encoder 543, the second rotation encoder 552 and the third rotation encoder 554 can respectively record the rotation angles of the first damping shaft 542, the first rotating rod 551 and the second rotating rod 553 and send them to the central processing unit.

[0052] Example 3

[0053] According to Example 1 or 2, please refer to Figure 2-Figure 5 A first driving motor is installed on the top of the teaching block 44 , and a rotating block 6 is fixedly connected to the output end of the first driving motor. The rotating block 6 rotates synchronously with the rotation of the first damping shaft 542 .

[0054] Specifically, the rotation of the first damping shaft 542 can be more intuitively observed by the synchronous rotation of the rotating block 6 with the first damping shaft 542, thereby ensuring the accuracy and reliability of the teaching work on the rotation angle of the sprayed parts, further improving the effect and reliability of the teaching work, thereby improving the quality and effect of the spraying process.

[0055] See also Figure 7-Figure 9 , and also includes a fixing mechanism 56 arranged on the first handle 51, the fixing mechanism 56 includes two pressure plates 561 symmetrically connected to the sides of the two first damping shafts 542 through a third rotating rod and a third torsion spring, the two pressure plates 561 can be tightly pressed against the two sides of the first rotating seat 541 respectively, and the fixing mechanism 56 also includes a driving unit 562 arranged on the first handle 51.

[0056] Specifically, the driving unit 562 and the third torsion spring are used to control the pressure plate 561 to press the first rotating seat 541 or separate from the first rotating seat 541, so that the first damping shaft 542 can be fixed and limited, thereby ensuring that the rotation of the first damping shaft 542 will not be affected by other operations, ensuring that the teaching work of the spray rack assembly 7 for controlling the rotation angle of the workpiece to be sprayed can be carried out reliably and smoothly, further improving the subsequent spraying effect and quality of the spray robot.

[0057] The driving unit 562 includes two first elastic members 5621 symmetrically fixedly connected to the first handle 51, a gripping rod 5622 is fixedly connected between one ends of the two first elastic members 5621, two pull ropes 5623 are symmetrically fixedly connected between the sides of the gripping rod 5622 away from the first elastic members 5621 and the sides close to the two pressure plates 561, and also includes two limiting rollers 5624 fixedly connected to the first rotating seat 541, the two pull ropes 5623 respectively bypass the two limiting rollers 5624, so that the staff only needs to hold and pull the gripping rod 5622 to release the fixed limit on the first damping rotating shaft 542, and the first damping rotating shaft 542 can be fixedly limited by loosening the gripping rod 5622, so that the fixed limit operation of the first damping rotating shaft 542 becomes simpler and more convenient.

[0058] It also includes multiple control buttons 57 installed on the second handle 52, and the multiple control buttons 57 are respectively used to control the three limiting mechanisms 53 and the spraying equipment 3 to start or shut down, and different control buttons 57 can be pressed to control the spray gun 31 to spray paints of different colors, so that the staff can also press the multiple control buttons 57 to control the three limiting mechanisms 53 and the spraying equipment 3 to start or shut down when holding the second handle 52, which further simplifies the teaching work and improves the efficiency of the teaching work.

[0059] See also Fig.10 A method for using the multi-color spraying robot comprises the following steps:

[0060] S1: Design the motion trajectory of the spray gun 31 and the spray rack assembly 7 in advance;

[0061] S2: operating the teaching component 4 according to the preset motion trajectory of the spray gun 31 and the spray rack component 7 through the auxiliary moving component 5;

[0062] S3: the teaching component 4 records the movement trajectory of the spray gun 31 and the spray rack component 7 during teaching and sends it to the central processor;

[0063] S4: The central processing unit controls the three-axis moving component 2, the spraying equipment 3 and the spraying frame assembly 7 to respectively drive the spray gun 31 and the workpiece to move to complete the spraying work according to the movement trajectory of the spray gun 31 and the spray frame assembly 7 recorded and sent by the teaching component 4.

[0064] How it works: See Figure 1-Figure 10 As shown, by holding the first handle 51 and the second handle 52 with both hands respectively, force is simultaneously exerted to push the teaching block 44 to move in the horizontal, longitudinal and vertical directions respectively, and then the first rotating rod 551 and the second rotating rod 553 are rotated, so that the teaching operation of the spraying trajectory of the spray gun 31 can be completed.

[0065] At the same time, different control buttons 57 can be pressed to control the contraction of one of the electric push rods 531 in the limit mechanism 53 to release the fixed limit, so that the teaching block 44 can be moved individually along the horizontal, longitudinal or vertical direction, ensuring that the teaching block 44 will not be offset in other directions, thereby improving the effect and accuracy of the teaching work, and thus ensuring the subsequent spraying quality and effect of the spray robot.

[0066] By rotating the first damping shaft 542, the first rotating rod 551 and the second rotating rod 553, the rotation angle of the spraying part and the rotation angle of the spray gun 31 can be taught, and then the first rotary encoder 543, the second rotary encoder 552 and the third rotary encoder 554 can respectively record the rotation angles of the first damping shaft 542, the first rotating rod 551 and the second rotating rod 553 and send them to the central processor;

[0067] The central processing unit then sends all the data in the teaching process to the control unit, and the control unit controls the three-axis moving component 2 to drive the spray gun 31 to move horizontally, longitudinally and vertically. The control unit then controls the spraying equipment 3 to drive the spray gun 31 to move up, down, left and right, and then controls the spray rack assembly 7 to drive the workpiece to be sprayed to rotate, and then controls the start of each color spraying operation by pressing multiple control buttons 57, so that multi-color automatic spraying can be completed.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-color spraying robot using displacement sensor-assisted teaching, comprising a workbench (1), characterized in that: A three-axis moving assembly (2) is provided on the top of the workbench (1), a spraying device (3) is connected to the three-axis moving assembly (2), the spraying device (3) comprises a spray gun (31) which can be rotated up and down and left and right, a teaching assembly (4) is connected to the workbench (1), an auxiliary moving assembly (5) is provided on the teaching assembly (4), a spraying frame assembly (7) for clamping and driving the workpiece to be sprayed to rotate is also provided on the workbench (1), and a central processing unit and a control unit are also installed on the workbench (1); The three-axis moving assembly (2) is used to drive the spraying equipment (3) to move in the front, back, left, right, and up and down directions to perform spraying processing on the workpiece to be sprayed; The auxiliary moving component (5) is used to assist the teaching operation to ensure that the teaching operation is more convenient and labor-saving.

2. A multi-color spraying robot using displacement sensor-assisted teaching according to claim 1, characterized in that: The teaching assembly (4) comprises a support plate (41) fixedly connected to the side of the workbench (1); the top of the support plate (41) is slidably connected to a transverse plate (42) via a transverse guide rod; the top of the transverse plate (42) is slidably connected to a longitudinal plate (43) via a longitudinal guide rod; the top of the longitudinal plate (43) is slidably connected to a teaching block (44) via a vertical guide rod; a transverse displacement sensor (45), a longitudinal displacement sensor (46) and a vertical displacement sensor (47) are respectively fixedly mounted on the left side, back side and top side of the teaching block (44); the top of the transverse plate (42) is fixedly connected to a transverse shading plate (451); the top of the longitudinal plate (43) is fixedly connected to a longitudinal shading plate (461); the top of the longitudinal shading plate (461) is fixedly connected to a vertical shading plate (471); the vertical shading plate (471) is located directly above the vertical displacement sensor (47).

3. A multi-color spraying robot using displacement sensor-assisted teaching according to claim 2, characterized in that: The auxiliary moving assembly (5) comprises a first handle (51) and a second handle (52) respectively connected to the left side and the right side of the teaching block (44).

4. A multi-color spraying robot using displacement sensor-assisted teaching according to claim 3, characterized in that: The auxiliary moving assembly (5) further comprises three limiting mechanisms (53) respectively arranged at the bottom of the transverse plate (42), the bottom of the longitudinal plate (43) and inside the teaching block (44); the three limiting mechanisms (53) are respectively used to limit and fix the position of the transverse plate (42), the longitudinal plate (43) and the teaching block (44); the auxiliary moving assembly (5) further comprises a workpiece rotation teaching mechanism (54) connected to the first handle (51) and a spray direction adjustment teaching mechanism (55) arranged on the second handle (52).

5. A multi-color spraying robot using displacement sensor-assisted teaching according to claim 4, characterized in that: The workpiece rotation teaching mechanism (54) comprises a first rotating seat (541) fixedly connected to the left side of the teaching block (44); two first damping rotating shafts (542) are symmetrically rotatably connected to the first rotating seat (541); the first handle (51) is fixedly connected between the two ends of the first damping rotating shafts (542) that are close to each other; the workpiece rotation teaching mechanism (54) further comprises a first rotation encoder (543) installed on the top of the first rotating seat (541); the first rotation encoder (543) is connected to the top of the first damping rotating shaft (542) located on the upper side; the spray direction adjustment teaching mechanism (5 5) includes a first rotating rod (551) rotatably connected to the bottom of the second handle (52) through a second rotating seat and a second damping rotating shaft, a second rotating encoder (552) is installed at the bottom of the second rotating seat, and the second rotating encoder (552) is connected to the bottom end of the second damping rotating shaft. The spray direction adjustment teaching mechanism (55) also includes a second rotating rod (553) rotatably connected to the end of the first rotating rod (551) through a third damping rotating shaft, a third rotating encoder (554) is installed on the front of the first rotating rod (551), and the third rotating encoder (554) is connected to the front end of the second rotating rod (553).

6. A multi-color spraying robot using displacement sensor-assisted teaching according to claim 5, characterized in that: A first drive motor is installed on the top of the teaching block (44), and a rotating block (6) is fixedly connected to the output end of the first drive motor. The rotating block (6) rotates synchronously with the rotation of the first damping shaft (542).

7. A multi-color spraying robot using displacement sensor-assisted teaching according to claim 6, characterized in that: The invention also includes a fixing mechanism (56) disposed on the first handle (51), wherein the fixing mechanism (56) includes two pressure plates (561) symmetrically connected to the sides of the two first damping shafts (542) via a third rotating rod and a third torsion spring, wherein the two pressure plates (561) can be respectively pressed against the two sides of the first rotating seat (541), and the fixing mechanism (56) also includes a driving unit (562) disposed on the first handle (51).

8. A method for using the multi-color spraying robot according to any one of claims 1 to 7, characterized in that: The following steps are included: S1: Designing the motion trajectory of the spray gun (31) and the spray rack assembly (7) in advance; S2: operating the teaching component (4) according to the preset motion trajectory of the spray gun (31) and the spray rack component (7) through the auxiliary moving component (5); S3: the teaching component (4) records the movement trajectory of the spray gun (31) and the spray rack component (7) during teaching and sends it to the central processing unit; S4: The central processing unit controls the three-axis moving component (2), the spraying equipment (3) and the spraying frame component (7) according to the movement trajectories of the spray gun (31) and the spraying frame component (7) recorded and sent by the teaching component (4), so as to drive the spray gun (31) and the workpiece to move respectively to complete the spraying work.

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