WO2020019209A1 - Optical locator - Google Patents

Abstract

Disclosed is an optical locator, comprising a supporting part (1), a light emitter (2), a first trigger component (3) and a second trigger component (5), wherein the first trigger component (3) and the second trigger component (5) are both arranged on the supporting part (1); the light emitter (2) is fixedly connected to the supporting part (1), and the first trigger component (3) is electrically connected to the light emitter (2), so that the first trigger component (3) realizes switch control over the light emitter (2); the supporting part (1) is further fixedly connected to a location tracker (4); and the second trigger component (5) is electrically connected to the location tracker (4) so as to trigger the location tracker (4) to send a signal. The optical locator accurately locates the supporting part (1) using a light beam emitted by the light emitter (2), and collects location coordinates via the location tracker (4).

Description

Light locator Technical field

The invention relates to the field of optical calibration and positioning design, in particular to an optical locator.

Background technique

Spatial positioning technology is a technology that is widely used in various fields, such as virtual reality and industrial robots. Specifically, the spatial positioning technology refers to a technology that collects and utilizes spatial position coordinates of an object. However, in the prior art, a problem of large position coordinate positioning errors often occurs. For example, in the teaching programming process of an industrial robot, one possible scenario is that a person holds a movable device to simulate the motion trajectory of an industrial robot's End-Effector, and then uses a sensor to collect the motion of the movable device After the trajectory, the position coordinates are sent to the robot teaching programming device, which is processed by the robot teaching programming device to generate a program for controlling the robot. Among them, when simulating welding processing similar to a welding torch, it is often difficult to accurately simulate the position of the welding point of the welding torch while holding a movable device, which causes the simulated motion trajectory to be inaccurate, so it is impossible to generate an accurate program to control the robot to complete the welding Tasks often lead to problems such as inaccurate solder joint locations.

Summary of the Invention

The present application provides an optical locator, which solves the technical problem of inaccurate positioning of the position coordinates of an object in the existing spatial positioning technology.

In an optional embodiment, the present application provides a light locator including a support portion, a light transmitter, a first trigger component, and a second trigger component. The light emitter is fixedly connected to the support portion. The first triggering component is disposed on the support portion, and the first triggering component is electrically connected to the light emitter for triggering a switch of the light emitter. The second trigger component is disposed on the support portion, and the second trigger component is electrically connected to a position tracker for triggering a position tracker to send a signal, and the position tracker is fixedly connected to the support portion.

This embodiment provides a locator that can use light for precise positioning. First, the light emitter is triggered by the first triggering component, and a spot of light emitted by the light emitter accurately positions a target position. Then, the second triggering component triggers the position tracker to send a signal, that is, the position coordinate signal of the light locator. The above embodiments achieve accurate positioning of the optical locator and solve the technical problem of inaccurate positioning of position coordinates in the prior art.

In another optional implementation manner, the light locator further includes a connection portion provided on the support portion, and the connection portion is physically and electrically connected to the position tracker, and the connection portion And is electrically connected to the second trigger component. This embodiment provides a technical solution for physically connecting the position tracker and the support part through the connection part, and the connection part electrically connects the position tracker and the second trigger component so that The second triggering component triggers the position tracker to send a signal.

In another optional embodiment, the connection portion includes a Picatinny rail and a first connection port, and an adapter member. The Picatinny rail is provided on the support portion. A first connection port is provided on the Picatinny rail, and the position tracker is connected to the transfer member. The transfer member includes a fixed connection block, a slide rail, a second connection port and a third connection port. The position tracker is fixedly installed on the fixed connection block, and the slide rail is disposed on the fixed On the connecting block, and the slide rail is installed in cooperation with the Picatinny rail. The second connection port is disposed on the fixed connection block, and the second connection port is electrically connected to the first connection port. The third connection port is disposed on the fixed connection block, and is electrically connected to the second connection port and the position tracker, respectively. In this embodiment, a specific structure of the connection portion is provided, so that the connection portion is used to physically connect with the support portion and the position tracker, respectively, and realizes electrical connection through a connection port.

In another optional embodiment, the Picatinny rail includes a strip-shaped rail and a plurality of protrusions, and the strip-shaped rail is disposed on the support portion. The plurality of protrusions are disposed on a first end surface of the strip guide, and the plurality of protrusions are arranged along a length direction of the strip guide. The first electrical connection port includes a plurality of external contacts, the plurality of external contacts are disposed on the first end surface, and the plurality of external contacts are arranged along a length direction of the strip guide, so The plurality of external contacts are spaced from the plurality of protrusions. The second electrical connection port includes a plurality of pairs of contact points, the plurality of pair of contact points are disposed on the slide rail, and the plurality of pair of contact points are correspondingly arranged and offset with the plurality of external contacts, The plurality of pairs of contact points are elastic contacts that expand and contract in a vertical direction of the first end surface. This embodiment mode discloses an electrical connection manner between the Picatinny rail and a contact of the adapter member.

In another optional implementation manner, the adapter component further includes a fixing stud, and one end thereof is fixed with the fixing connection block. The third electrical connection port includes a plurality of connection contacts, and the plurality of connection contacts are electrically connected to the corresponding pair of contact points, respectively, and the plurality of connection contacts are along a length of the fixed stud. Slide in the direction. The position tracker includes a tracker electrical connection port and a fixed threaded hole, and the contacts of the tracker electrical connection port are correspondingly connected to the plurality of connection contacts, respectively. The fixed threaded hole is screwed and fixed to the other end of the fixed stud. This embodiment provides a connection method for a connection structure with a position tracker described in the prior art.

In another optional implementation manner, the support portion has a hollow cavity, the light emitter is disposed in the hollow cavity, the support portion is provided with an opening, and the opening is in communication with the hollow cavity. The opening is used for disassembling the light emitter. This embodiment provides a specific embodiment in which the light emitter is disposed on the support portion.

In another optional implementation manner, a light emitting port of the light emitter is disposed toward the opening so that the light emitted from the light emitter is emitted through the opening. A transparent region is provided on the support portion, and is disposed at a position where the emitted light can be viewed through the transparent region. This embodiment provides a specific setting manner of the light emitter, that is, the light emitter is emitted through the opening. This embodiment is more convenient to be applied to teaching equipment that simulates a spray-type end effector.

In another optional implementation manner, a telescopic tube is provided on the support portion, one end of the telescopic tube is connected to the support portion, and an inner cavity of the telescopic tube is in communication with the hollow cavity. The laser emitting port of the light transmitter is opposite to the length direction of the inner cavity of the telescopic tube, so that the light emitted from the light transmitter is emitted from the other end of the telescopic tube. The telescopic tube or the support portion has a transparent area provided at a position where the emitted light can be viewed through the transparent area. This embodiment provides another specific setting manner of the light emitter. This embodiment is more convenient to be applied to a teaching device that simulates a similar welding end effector.

In another optional implementation manner, the support portion is provided with an ejection device and a third triggering component, and the ejection device is installed in cooperation with the light emitter to realize the light emitter to be ejected from the opening. The third triggering component triggers the ejection device to eject the light emitter. This embodiment provides an ejection device for ejecting the light emitter from the opening, and the purpose thereof is to facilitate the insertion of the light emitter.

In another optional implementation manner, the support portion has a hollow cavity, the support portion is provided with a built-in power supply device, the built-in power supply device is disposed in the hollow cavity, and the built-in power supply device and the The light transmitter and / or the position tracker are electrically connected. This embodiment provides a technical solution for setting the built-in power supply device, the built-in power supply device is disposed in the hollow cavity and supplies power to the light transmitter and / or the position tracker.

In addition, the embodiment of the present invention also provides a robot teaching programming technology, which can easily realize the programming of the robot without being restricted by the type of the robot.

In a first aspect, a robot teaching programming method is provided. The method may include: recording first motion information, where the first motion information is information that mimics a robot's end effector motion in a robot's workspace in a first coordinate system; A correspondence between the first coordinate system and a second coordinate system, and the first motion information to determine second motion information, wherein the second coordinate system is a coordinate of the robot in the working space System, the second motion information is information that the movable device mimics the motion of the end effector of the robot under the second coordinate system; the robot is programmed according to the second motion information.

Among them, a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the coordinate system of the robot through coordinate transformation, and then the converted information is used. Motion information to program the robot. Has the advantages of easy operation, not limited by the type of robot. Teach programming through a simple transformation of the coordinate system without the need for higher programming skills.

Optionally, the movable device includes at least one signal receiver. In the method, when recording the first motion information, it can be determined according to a signal received by the at least one signal receiver from at least one signal transmitter. And recording the first motion information, and further, in the method, a corresponding relationship between the first coordinate system and the second coordinate system is determined according to a relative position relationship between the at least one signal transmitter and the robot. . In this way, the corresponding relationship between the two coordinate systems can be determined according to the position of the deployed signal transmitter, which has the advantages of simple and easy implementation and flexible deployment.

In a second aspect, a robot teaching programming device is provided, which can be used to implement the method provided in the first aspect. The device may include: a recording module for recording first motion information, where the first motion information is executed under a first coordinate system, imitating an end of the robot in a working space of the robot Information about the motion of the controller; a conversion module for determining a second motion information according to the correspondence between the first coordinate system and a second coordinate system, and the first motion information, wherein the second coordinate system Is the coordinate system of the robot in the working space, the second motion information is information that the movable device mimics the motion of the end effector of the robot under the second coordinate system; a programming module For programming the robot according to the second motion information.

Among them, a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the coordinate system of the robot through coordinate transformation, and then the converted information is used. Motion information to program the robot. Has the advantages of easy operation, not limited by the type of robot. Teach programming through a simple transformation of the coordinate system without the need for higher programming skills.

Optionally, the movable device includes at least one signal receiver, and the recording module is specifically configured to determine and record the first according to a signal received by the at least one signal receiver from at least one signal transmitter. A motion information; the conversion module is further configured to determine a corresponding relationship between the first coordinate system and the second coordinate system according to a relative position relationship between the at least one signal transmitter and the robot. In this way, the corresponding relationship between the two coordinate systems can be determined according to the position of the deployed signal transmitter, which has the advantages of simple and easy implementation and flexible deployment.

According to a third aspect, a robot teaching programming device is provided, including: at least one memory for storing computer-readable code; and at least one processor for calling the computer-readable code to execute the method provided by the first aspect.

According to a fourth aspect, a computer program product is provided, the computer program product being tangibly stored on a computer-readable medium and including computer-executable instructions that, when executed, cause at least one processor to execute a first Provided on one hand.

According to a fifth aspect, a computer-readable medium is provided. The computer-readable medium stores computer-readable instructions. When the computer-readable instructions are executed by a processor, the processor causes the processor to execute the computer-readable instructions. method.

According to a fifth aspect, a robot teaching programming system is provided, including: a movable device for imitating the robot's end effector motion in a robot's working space; a robot teaching programming device for recording the first A movement information, the first movement information is information of the movement of the movable device in a first coordinate system; according to a correspondence relationship between the first coordinate system and a second coordinate system, and the first Motion information to determine a second motion information, wherein the second coordinate system is a coordinate system of the robot in the working space, and the second motion information is the The motion device mimics information of the robot's end effector motion; and programs the robot based on the second motion information.

Among them, a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the robot's coordinate system through coordinate transformation, and the converted Motion information to program the robot. Has the advantages of easy operation, not limited by the type of robot. Teach programming through a simple transformation of the coordinate system without the need for higher programming skills.

Optionally, the movable device includes at least one signal receiver, the system further includes at least one of the at least one signal transmitter, and the robot teaches a programming device, and is specifically configured to be based on the at least one signal receiver The received signal from at least one signal transmitter to determine and record the first motion information; the robot teaching programming device is further configured to according to a relative position relationship between the at least one signal transmitter and the robot, Determining a correspondence between the first coordinate system and the second coordinate system. In this way, the corresponding relationship between the two coordinate systems can be determined according to the position of the deployed signal transmitter, which has the advantages of simple and easy implementation and flexible deployment.

In the above aspects, optionally, the types of the first motion information and the second motion information include at least one of the following information: position information, attitude information, trajectory information, speed information, and acceleration information. The precise programming of the robot can be realized based on the acquired various motion information.

BRIEF DESCRIPTION OF THE DRAWINGS

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of the present invention.

FIG. 1 is a schematic diagram of an external overall structure according to an embodiment of the present invention; FIG.

2 is a schematic structural diagram of an embodiment of the present invention;

3 is a schematic structural diagram of a robot teaching programming system according to an embodiment of the present invention;

4 is a schematic diagram of position teaching according to an embodiment of the present invention;

5 is a schematic diagram of posture teaching according to an embodiment of the present invention;

6 is a flowchart of a robot teaching programming method according to an embodiment of the present invention;

FIG. 7 is an exploded view of the overall structure according to an embodiment of the present invention; FIG.

8 is a schematic cross-sectional view of a structure of a connecting portion according to the present invention;

9 is a schematic diagram of an external overall structure according to another embodiment of the present invention;

10 is a schematic structural diagram of another embodiment of the present invention;

11 is a schematic structural diagram of a position tracker according to the present invention;

Among them, the reference numerals are as follows:

Label	meaning
1	Support department
12	Opening
13	Flip
14	Eject device
15	Third trigger component
16	flexible tube
17	Built-in power supply unit
18	Transparent area
2	Light transmitter
3	First trigger component
4	Position tracker
5	Second trigger part
6	Connection section
61	Picatinny rail
611	Strip guide
612	Raised
62	First connection port
63	Adapter
631	Fixed connection block
632	Slide rail
633	Second connection port
634	Third connection port
635	Pair of touch points
636	Fixed stud
637	Connection contact
4	Position tracker

41	Tracker electrical connection port
42	Fixing threaded hole
6	Button
20	Movable device
201	Signal receiver
202	Signal transmitter
30	robot
40	Robot teaching programming device
100	Computer teaching programming system
101	First coordinate system
102	Second coordinate system
(X 1 , Y 1 , Z 1 )	Position coordinates of the movable device 20 in the first coordinate system 101
(X 2 , Y 2 , Z 2 )	Position coordinates of the movable device 20 in the second coordinate system 102
RYP 1	Attitude angle of the movable device 20 in the first coordinate system 101
RYP 2	Attitude angle of the movable device 20 in the second coordinate system 102
S201-S204	step

detailed description

The applicant found that under the existing spatial positioning technology, such as the simulation of welding in the teaching of industrial robots. The position of the movable device is difficult to accurately reflect the true position of the end effector in the working state. The main reason for the analysis is that the point of contact with the workpiece to be welded, whether using electrodes or other welding methods, is one point during welding. Therefore, the position of the end effector and the position of the point must be accurately positioned before the position of the end effector is the position data that needs to be collected. For another example, in virtual reality, a similar situation occurs in shooting games. The location of the targeted target and virtual weapons (such as firearms) is also difficult to accurately collect. The reason is similar, the target being shot is a point in the display content, and it is difficult for a human hand to perceive the correct position.

In order to have a clearer understanding of the technical features, objects, and effects of the invention, specific embodiments of the present invention will now be described with reference to the drawings, in which the same reference numerals represent the same parts. In the drawings showing the embodiments, the same last two digits indicate components having the same structure or similar structure but the same function.

In order to make the drawings concise, only the parts related to the present invention are shown schematically in the drawings, and they do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, components having the same structure or function are only schematically illustrated or only one of them is marked.

FIG. 1 is a schematic diagram of the overall external structure according to an embodiment of the present invention. FIG. 2 is a schematic structural diagram of an embodiment of the present invention. As shown in FIG. 1 and FIG. 2, in order to solve the above-mentioned problem, an optical locator is provided in the present application, which includes a support part 1, an optical transmitter 2, a first triggering part 3, and a second triggering part 5. The first triggering component 3 and the second triggering component 5 are both disposed on the support portion 1. The light transmitter 2 is fixedly connected to the support portion 1, and the first triggering component 3 is electrically connected to the light transmitter 2. The first triggering component 3 realizes the switching control of the light transmitter 2. In addition, a position tracker 4 is fixedly connected to the support portion 1. The second triggering component 5 is electrically connected to the position tracker 4 for triggering the position tracker 4 to send a signal. It should be pointed out that the fixed connection refers to, for example, soldering, pasting, installation and connection of socket plugs, and the like. This embodiment provides a technical solution for determining accurate position coordinates by using light and sending position coordinate signals through the position tracker 4.

In order to better understand the role of this application in the field of robot teaching, the application scenarios of robot teaching will be further described in detail below.

For example, in a possible scenario, FIG. 3 is a schematic structural diagram of a robot teaching programming system provided by an embodiment of the present invention. As shown in Figure 3, the computer teaching programming system includes:

A movable device 20 for simulating the movement of an end effector of a robot 30;

A robot teaching programming device 40 is used to record information of movement of the movable device 20 in a first coordinate system 101, which is referred to herein as "first motion information"; and according to the first coordinate system 101 and a first The correspondence between the two coordinate systems 102 and the first motion information determine the motion information of the movable device 20 under the second coordinate system 102, which is referred to herein as "second motion information". The second coordinate system 102 is a coordinate system of the robot 30 in the working space. For example, the second coordinate system 102 may be a world coordinate system, a base coordinate system, a workpiece coordinate system, and the like. Then, according to the second motion information, The robot 30 is programmed.

The first motion information and the second motion information described above are both used to describe the motion of the movable device 20. The difference is that the first motion information describes the motion of the movable device 20 with reference to the first coordinate system 101, and the second motion The information describes the movement of the movable device 20 with reference to the second coordinate system 102, that is, the coordinate system of the robot 30. According to the corresponding relationship between the first coordinate system 101 and the first coordinate system 101, the second movement information can be obtained from the first movement information, and then the movement of the movable device 20 is described in the coordinate system of the robot 30, and the movable device 20 It is used to imitate the movement of the robot 30, and thus teaches the movement of the robot 30 in the working space of the robot 30, so that the teaching programming of the robot 30 can be realized according to the second movement information.

The curve in FIG. 3 represents the trajectory of the movable device 20. During the movement of the movable device 20, the robot teaching programming device 40 may record the position information of the movable device 20. FIG. 4 is a schematic diagram of a position coordinate data architecture method according to an embodiment of the present invention. As shown in FIG. 4 (X ₁ , Y ₁ , Z ₁ ), that is, the position coordinates of the motion device 20 in the first coordinate system 101, and (X ₂ , Y ₂ , Z ₂ ) are the coordinate transformed The position coordinates of the movable device 20 in the second coordinate system 102. The robot teaching programming device 40 may also record the posture information of the movable device 20. FIG. 5 is a schematic diagram of an attitude angle coordinate data architecture method according to an embodiment of the present invention. As shown in FIG. 5, RYP ₁ , that is, the attitude angle of the motion device 20 in the first coordinate system 101, and RYP ₂ is the current position after coordinate transformation. The attitude angle of the movable device 20 in the second coordinate system 102. In addition, the change of the position of the movable device 20 with time can be used to represent the trajectory of the movable device 20, and the robot teaching programming device 40 can also record the trajectory information of the movable device 20. In addition, speed information, acceleration information, and the like of the movable device 20 can also be obtained.

When the robot teaching programming device 40 records the motion information of the movable device 20, there are various alternative implementations. Take as an example that the at least one signal receiver 202 shown in FIG. 3 receives at least one signal transmitter 201 and the robot teaching programming device 40 determines and records the first motion information according to the received signal.

At least one signal transmitter 201 can record the position information of at least one signal receiver 202 at various times. As shown in FIG. 3, according to the position information of each signal receiver 202, the position information of the movable device 20 at each time is calculated. Then send it to the robot teaching programming device 40, and the robot teaching programming device 40 can calculate the speed information, acceleration information, trajectory information, etc. of the movable device 20 based on the received position information of the movable device 20 at each time.

Alternatively, the at least one signal transmitter 201 may record the position information of the at least one signal receiver 202 at various times, and directly send the position information to the robot teaching and programming device 40 without further processing. The robot teaching programming device 40 further calculates position information, acceleration information, speed information, trajectory information, and the like of the movable device 20 at various times.

Alternatively, at least one signal transmitter 201 may record the position information of at least one signal receiver 202 at various times. As shown in FIG. 4, since the position relationship between each signal receiver 202 is fixed and known in advance, at least one The signal transmitter 201 can calculate the posture information of the movable device 20 at various times according to the position information of each signal receiver 202, and then send it to the robot teaching programming device 40. The robot teaching programming device 40 can learn the movable device 20 Posture information at various times.

Alternatively, the at least one signal transmitter 201 may record the position information of the at least one signal receiver 202 at various times and directly send the position information to the robot teaching programming device 40. The robot teaching and programming device 40 calculates the posture information of the movable device 20 at each time according to the position relationship between the signal receivers 202 and the position information of each signal receiver 202 at each time.

FIG. 6 is a flowchart of a robot teaching programming method according to an embodiment of the present invention. This method can be executed by the robot teaching programming device 40. As shown in FIG. 6, the method may include the following steps:

S201: Determine the correspondence between the first coordinate system 101 and the second coordinate system 102.

As described above, the robot teaching programming device 40 may determine the corresponding relationship between the first coordinate system 101 and the second coordinate system 102 according to the relative position relationship between the at least one signal transmitter 201 and the robot 30.

S202: Record first movement information of the movable device 20.

As described above, the robot teaching programming device 40 may acquire information from the at least one signal transmitter 201 and determine the first motion information.

S203: Perform coordinate transformation, and determine the second motion information according to the first motion information.

The robot teaching programming device 40 obtains the second motion information by converting the first motion information according to the correspondence between the first coordinate system 101 and the second coordinate system 102.

S204: Program the robot 30 according to the second motion information.

After the movement information of the movable device 20 in the coordinate system of the robot 30 is obtained, the robot teaching programming device 40 can perform teaching programming on the robot 30 according to the information.

For other optional implementations of the method, reference may be made to the description in the foregoing system 100, and details are not described herein again.

In the above-mentioned embodiment, one of the methods of constructing a coordinate system by using a laser is taken as an example to further illustrate this application. First, a first coordinate system 101 is established using a laser. Specifically, the first coordinate system 101 is implemented by using a position tracker 4 and a lighthouse (that is, a laser emitting device), where the position tracker 4 is equivalent to the movable device 20 in the foregoing embodiment. A three-dimensional space is constructed by the laser emitted by the lighthouse and a first coordinate system 101 is established therein. The position tracker 4 is then placed in the three-dimensional space, and the position tracker 4 collects its own specific position coordinates (X ₁ , Y ₁ , Z ₁ ) in the three-dimensional space through the sensor, that is, the recordable movable device in the above embodiment. The first motion information of 20 and the position coordinates (X ₁ , Y ₁ , Z ₁ ) are transmitted to the robot teaching and programming device 40. A correspondence relationship is established between the first coordinate system 101 of the three-dimensional space and the second coordinate system 102 of the robot 30 itself in the robot teaching programming device 40, that is, the determination of the first coordinate system 101 and the second coordinate system in the above embodiment. Correspondence between the coordinate systems 102. It should be noted that the step of establishing the corresponding relationship may also be completed before recording the first motion information. Then, the path of the position tracker 4 may be mapped to the second coordinate system 102 of the robot 30 to form a motion trajectory of the robot 30, that is, the second motion information is determined according to the first motion information in the steps of the foregoing embodiment. The robot teaching programming device 40 then generates a path code according to the motion trajectory of the robot 30, that is, the robot 30 is programmed according to the second motion information in the steps of the foregoing embodiment. At this time, the robot teaching programming device 40 has transformed coordinates, and converted the position coordinates of (X ₁ , Y ₁ , Z ₁ ) in the first coordinate system into the coordinates of (X ₂ , Y ₂ , Z ₂ ) in the second coordinate system. Position coordinates. In the above manner, the light emitter 2 can emit a parallel light (generally a laser is used because the laser can relatively easily form parallel light). In the application of a welding robot, the parallel light of the light emitter 2 is irradiated at a position where welding is required. At this time, the position coordinates of the support part 1 are accurate, and then the position tracker 4 is triggered by the second triggering part 5 to send the position coordinates (X ₁ , Y ₁ , Z ₁ ) to the robot teaching programming device 40. It should be noted that the first trigger component 3 is equivalent to an on / off key of the light emitter 2. The above description is only an example for teaching a welding robot, and the application is not limited to the field of robot teaching. In addition, the trigger component can be a button.

FIG. 7 is an exploded view of the overall structure according to an embodiment of the present invention. FIG. 8 is a schematic structural cross-sectional view of the connecting portion according to the present invention. As shown in FIG. 7 and FIG. 8, in another optional implementation manner, the optical positioner further includes a connecting portion 6, the connecting portion 6 is disposed on the supporting portion 1, and the connecting portion 6 is physically connected to the position tracker 4. And electrical connection, the connecting portion 6 is electrically connected to the second trigger member 5. This embodiment provides a structure for connecting to the position tracker 4 and realizes physical and electrical connections to the position tracker 4. Because the second triggering component 5 is electrically connected to the position tracker 4, the second trigger The component 5 can control the position tracker 4 to send signals.

As shown in FIG. 7 and FIG. 8, in another optional embodiment, the supporting portion 1 is provided with a connecting portion 6, and the connecting portion 6 is connected to the supporting portion 1. The connecting portion 6 includes a Picatinny rail 61, a first connection port 62 and an adapter member 63. The Picatinny rail 61 is disposed on the support portion 1, and the first connection port 62 is disposed on the Picatinny rail 61. . A position tracker 4 is connected to the switching member 6. The transfer member 63 includes a fixed connection block 631, a slide rail 632, a second connection port 633, and a third connection port 634. The slide rail 632 is disposed on the fixed connection block 631, and the slide rail 632 and the Picatinny rail 61 fit the installation. The second connection port 633 and the third connection port 634 are disposed on the fixed connection block 631, and the second connection port 633 is electrically connected to the first connection port 62. The third connection port 634 is electrically connected to the second connection port 633, and the third connection port 634 is electrically connected to the position tracker 4. Picatinny rail 61 is a universal rail, which is mostly used for the mounting of sights on firearms. This embodiment borrows such a track-type installation position tracker 4. This embodiment uses the cooperation of the Picatinny rail 61 and the slide rail 632 to make the transfer member 6 slide only along the length of the Picatinny rail 61. The transfer member 63 may be limited by bolts on both sides, and may also be limited by other methods such as tolerance fitting. Because the structure and assembly of the Picatinny rail 63 is the prior art, it will not be repeated here.

In another optional embodiment, the Picatinny rail 61 includes a strip-shaped rail 611 and a plurality of protrusions 612, and the strip-shaped rail 611 is disposed on the support portion 1. The plurality of protrusions 612 are disposed on the first end surface 613 of the strip guide 612, and the plurality of protrusions 612 are arranged along the length direction of the strip guide 611. The above structure belongs to the conventional structure of the Picatinny rail 61. The first electrical connection port 62 includes a plurality of external contacts 64, the plurality of external contacts 64 are disposed on the first end surface 613, and the plurality of external contacts 64 are arranged along the length of the strip guide 611, and the plurality of external contacts 64 is spaced from the plurality of protrusions 622. The second electrical connection port 633 includes a plurality of pairs of contact points 635, the plurality of pairs of contact points 635 are disposed on the slide rail 632, and the plurality of pairs of contact points 635 and the plurality of external contacts 64 are correspondingly arranged and offset, and the plurality of pairs of contacts The point 635 is an elastic contact that expands and contracts in the vertical direction of the first end surface 613. This embodiment provides an embodiment in which the contacts are arranged on the Picatinny rail 61, and this embodiment can save the layout space to the greatest extent. The pair of contact points 635 may be triangular contacts on the mobile phone charger in the prior art, and the two sides of the triangular contacts are respectively facing the protrusions 612 on both sides. When the slide rail 632 slides in the length direction of the Picatinny rail 61, the side of the triangle contact point 635 can be lifted up along the protrusion 612 to achieve assembly. Of course, for the contact point 635, other methods such as a round head contact can also be adopted.

In another optional implementation manner, the connecting member 63 further includes a fixing stud 636, one end of which is fixed to the fixing connection block 631. The third electrical connection port 633 includes a plurality of connection contacts 637, and the plurality of connection contacts 637 are electrically connected to corresponding pairs of contact points 635, respectively. The plurality of connection contacts 637 slide along the length of the fixed stud 635. The position tracker 4 includes a tracker electrical connection port 41 and a fixed threaded hole 42, and the contacts of the tracker electrical connection port 41 are correspondingly connected to a plurality of connection contacts 637, the fixed threaded hole 42 and the fixed stud 636 The other end is screwed and fixed. FIG. 11 is a schematic structural diagram of a position tracker according to the present invention. As shown in FIG. 11, this embodiment provides a connection structure dedicated to a position tracker. It should be pointed out that since the tracker electrical connection port 41 is disposed at the bottom of the position tracker, the connection contact 637 needs to be able to slide along the length of the fixed stud 636 to achieve mounting contact. A specific implementation of the elastic contact is provided in FIG. 8, but this embodiment is not limited to the elastic contact in the figure.

As shown in FIG. 1 and FIG. 2, in another optional embodiment, the support portion 1 has a hollow cavity, the light emitter 2 is disposed in the hollow cavity, and the support portion 1 is provided with an opening 12, and the opening 12 and the hollow cavity are provided. The body is connected, and the opening 12 is used for disassembling and mounting the light emitter 2. This embodiment provides a specific arrangement manner of the light emitter 2, which can be conveniently taken out from the opening 12 for repair, and it is also very convenient to install the light emitter 2 from the opening 12.

In another optional implementation manner, the light emitting port of the light emitter 2 is disposed toward the opening 12 so that the light emitted from the light emitter 2 is emitted through the opening 12. The support portion 1 has a transparent region 18 provided at a position where the emitted light can be viewed through the transparent region 18. In practical applications, when the emitted light from the light emitter 2 hits a position to be positioned, a light spot appears at the position to be positioned, and the position of the light spot is the position to be positioned. However, the light emitted from the opening 12 cannot display the light path, and the distance between the light spot and the light positioner cannot be determined to affect the positioning effect. Therefore, one end of the support portion 1 provided with the opening 12 is directly in contact with the positioning position, and the distance between the light spot and the light locator can be determined by using the above method. However, the above method will cause the support portion 1 to completely block the emitted light. Therefore, it is necessary to observe the inside of the support part 1 using the transparent area 18 and confirm the position of a light spot.

In another optional implementation manner, a flip cover 13 may be further provided on the support portion 1. The flip cover 13 is made of transparent material, and the flip cover 13 is closed to close the opening 12. On the one hand, the flip cover 13 can protect the light emitter 2 and keep the inside of the hollow cavity clean. On the other hand, transparent materials are used to facilitate light transmission.

FIG. 9 is a schematic diagram of an external overall structure according to another embodiment of the present invention. FIG. 10 is a schematic structural diagram of another embodiment of the present invention. As shown in FIG. 9 to FIG. 10, in another optional embodiment, the support portion 1 has a hollow cavity, the light emitter 2 is disposed in the hollow cavity, and the support portion 1 is provided with a telescopic tube 16. One end of the telescopic tube 16 is connected to the support portion 1, and the inner cavity of the telescopic tube 16 is in communication with the hollow cavity. The laser emission port of the light transmitter 2 is opposite to the length direction of the inner cavity of the telescopic tube 16. This embodiment provides a specific structure of the telescopic tube 16, which is mainly used to guide the light emitted by the light transmitter 2 to a specific position required, which can better simulate the actual working conditions of the welding torch and make the collected position data more accurate. . The telescopic tube 16 or the supporting portion 1 has a transparent region 18 provided at a position where the emitted light can be viewed through the transparent region 18. The role of the transparent area 18 is the same as that described above, and will not be repeated here. It should be noted that the transparent area 18 is more convenient to use on the telescopic tube 16 according to the structural characteristics.

In another optional implementation manner, the support portion 1 is provided with an ejection device 14 and a third triggering component 15. The ejection device 14 is installed in cooperation with the light emitter 2 to realize the light emitter 2 being ejected from the opening 12. The third triggering component 15 triggers the ejection device 14 to eject the light emitter 2. This embodiment provides an embodiment in which the light emitter 2 is ejected from the opening 12 to facilitate installation and maintenance of the light emitter 2. It should be noted that the ejection device 14 may use the ejection mechanism of a firearm magazine. Since the ejection device 14 and the third triggering member 15 use the existing technology, the details will not be repeated here.

In another optional embodiment, the support portion 1 has a hollow cavity. The support portion 1 is provided with a built-in power supply device 17, the built-in power supply device 17 is disposed in the hollow cavity, and the built-in power supply device 17 is electrically connected to the light transmitter 2. This embodiment provides a specific implementation using the built-in power supply device 17, and an external power supply can be omitted. The ejection device 14 can also be applied to the built-in power supply device 17 for easy installation or replacement.

The specific beneficial effects of this application are as follows:

In the present invention, the position of the support portion 1 is accurately located by using a light beam emitted from the light transmitter 2. Then, the position data collected by the position tracker 4 is sent to the system background for subsequent use by the second triggering component 5. The technical problem of inaccurate location data collection in the prior art is solved.

The present invention also provides a specific implementation mode for connecting the position tracker 4 using a Picatinny rail 61.

The present invention also provides two different embodiments, a light emitting port of the light emitter 2 faces the opening 12, which is more suitable for teaching spray type end effectors. The laser emitting port of another optical transmitter 2 is opposite to the length direction of the inner cavity of the telescopic tube 16 so that the light emitted from the optical transmitter 2 is emitted from the other end of the telescopic tube 16. It is more suitable for teaching the end of a welding class. Device.

On the one hand, the flip cover 13 can protect the light emitter 2 and keep the inside of the hollow cavity clean. On the other hand, transparent materials are used to facilitate light transmission.

The ejection device 14 is used for assembling the light emitter 2 and the built-in power supply device 17.

The telescopic tube 16 is easier to simulate the actual working conditions of the welding torch.

As used herein, "schematic" means "serving as an example, instance, or illustration." Any illustration or implementation described herein as "schematic" should not be interpreted as a more preferred or more advantageous Technical solutions.

It should be understood that although this description is described in terms of various embodiments, not every embodiment includes only an independent technical solution. This description of the description is only for clarity, and those skilled in the art should take the description as a whole. The technical solutions in the respective embodiments may also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the scope of protection of the present invention. Any equivalent implementations that do not depart from the technical spirit of the present invention or Changes should be included in the protection scope of the present invention.

Claims (22)

1. An optical locator, comprising:

   A support department (1);

   A light emitter (2), which is fixedly connected to the support part (1);

   A first triggering component (3), which is arranged on the supporting part (1), and the first triggering component (3) is electrically connected with the light emitter (2), and is used for triggering the light emission Switch (2);

   A second triggering component (5) is disposed on the support (1), the second triggering component (5) is electrically connected to a position tracker (4) and is used to trigger a position tracker (4) ) Sends a signal, and the position tracker (4) is fixedly connected to the support section (1).
2. The light positioner according to claim 1, wherein the light positioner further comprises:

   A connecting portion (6) is provided on the supporting portion (1), and the connecting portion (6) is physically and electrically connected to the position tracker (4), and the connecting portion (6) is in contact with the position tracker (4). The second trigger component (5) is electrically connected.
3. The light positioner according to claim 2, wherein the connecting portion (6) comprises:

   A Picatinny rail (61), which is arranged on the support portion (1);

   A first connection port (62), which is disposed on the Picatinny rail (61);

   An adapter part (63) to which the position tracker (4) is connected;

   The transfer member (63) includes:

   A fixed connection block (631) on which the position tracker (4) is fixedly mounted; and

   A slide rail (632), which is arranged on the fixed connection block (631), and the slide rail (632) is installed in cooperation with the Picatinny rail (61);

   A second connection port (633), which is disposed on the fixed connection block (631), the second connection port (633) is electrically connected to the first connection port (62);

   A third connection port (634) is disposed on the fixed connection block (631), and is electrically connected to the second connection port (633) and the position tracker (4), respectively.
4. The optical positioner according to claim 3, wherein

   The Picatinny rail (61) includes:

   A strip-shaped guide rail (611) provided on the support portion (1);

   A plurality of protrusions (612) arranged on the first end face (613) of the strip guide (612), and the plurality of protrusions (612) are arranged along the length direction of the strip guide (611) cloth;

   The first electrical connection port (62) includes:

   A plurality of external contacts (64), which are disposed on the first end surface (613), and the plurality of external contacts (64) are arranged along the length direction of the strip guide (611), External contacts (64) are spaced from the plurality of protrusions (622);

   The second electrical connection port (633) includes:

   A plurality of pairs of contact points (635), which are disposed on the slide rail (632), and the plurality of pairs of contact points (635) and the plurality of external contacts (64) are correspondingly arranged and offset, The plurality of pairs of contact points (635) are elastic contacts that expand and contract in a vertical direction of the first end surface (613).
5. The light locator according to claim 4, wherein:

   The transfer member (63) further includes:

   A fixed stud (636), one end of which is fixed with the fixed connection block (631);

   The third electrical connection port (633) includes:

   A plurality of connection contacts (637), each of which is electrically connected to the corresponding pair of contact points (635), and the plurality of connection contacts (637) are fixed along the The length of the stud (636) slides;

   The position tracker (4) includes:

   A tracker electrical connection port (41), and the contacts of the tracker electrical connection port (41) are correspondingly connected to the plurality of connection contacts (637);

   A fixed threaded hole (42) is screwed to the other end of the fixed stud (636).
6. The light locator according to claims 1 to 5, characterized in that the support portion (1) has a hollow cavity, the light emitter (2) is disposed in the hollow cavity, and the support portion ( 1) The settings are:

   An opening (12), the opening (12) is in communication with the hollow cavity, and the opening (12) is used for disassembling and mounting the light emitter (2).
7. The light locator according to claim 6, wherein the light emitting port of the light emitter (2) is disposed toward the opening (12) so that the light emitted from the light emitter (2) is transmitted by the light source. Said opening (12) shot;

   The support section (1) includes:

   A transparent region (18) is provided at a position where the emitted light can be viewed through the transparent region (18).
8. The light locator according to claim 6, wherein the support (1) is provided with:

   A telescopic tube (16), one end of the telescopic tube (16) is connected to the support portion (1), and an inner cavity of the telescopic tube (16) is in communication with the hollow cavity, and the light emitter (2) the laser emitting port is opposite to the length direction of the inner cavity of the telescopic tube (16) so that the light emitted from the light emitter (2) is emitted from the other end of the telescopic tube (16);

   The telescopic tube (16) or the support (1) has:

   A transparent region (18) is provided at a position where the emitted light can be viewed through the transparent region (18).
9. The light locator according to claim 6, wherein the support (1) is provided with:

   An ejection device (14), which is installed in cooperation with the light emitter (2) so as to eject the light emitter (2) from the opening (12);

   A third triggering component (15) triggers the ejection device (14) to eject the light emitter (2).
10. The light locator according to claim 6, wherein the support portion (1) has a hollow cavity, and the support portion (1) is provided with:

    A built-in power supply device (17), the built-in power supply device (17) is disposed in the hollow cavity, and the built-in power supply device (17) and the light transmitter (2) and / or the position tracker (4) Electrical connection.
11. The robot teaching programming method is characterized in that it includes:

    Recording first motion information, the first motion information is that under a first coordinate system (101), a movable device (20) imitates the end of the robot (30) in a workspace of a robot (30) Information on actuator movement;

    Determine the second motion information according to the correspondence between the first coordinate system (101) and a second coordinate system (102), and the first motion information, wherein the second coordinate system (102) is The coordinate system of the robot (30) in the working space, and the second motion information is an image of the robot (30) imitating the robot (30) under the second coordinate system (102). Information on end effector movements;

    Programming the robot (30) based on the second motion information.
12. The method according to claim 11, wherein the movable device (20) comprises at least one signal receiver (201), and the recording the first motion information comprises: according to the at least one signal receiver ( 201) A signal received from at least one signal transmitter (202) to determine and record the first motion information;

    The method further includes: determining a relationship between the first coordinate system (101) and the second coordinate system (102) according to a relative position relationship between the at least one signal transmitter (202) and the robot (30). Correspondence.
13. The method according to claim 11 or 12, wherein the types of the first motion information and the second motion information include at least one of the following information:

    location information;

    Attitude information

    Trajectory information

    Speed information

    Acceleration information.
14. The robot teaching programming device (40) is characterized in that it includes:

    A recording module for recording first motion information. The first motion information is imitating the motion information of a movable device (20) in a working space of a robot (30) under a first coordinate system (101). Information on the movement of the end effector of the robot (30); a conversion module for determining according to the correspondence between the first coordinate system (101) and a second coordinate system (102), and the first motion information Second motion information, wherein the second coordinate system (102) is a coordinate system of the robot (30) in the working space, and the second motion information is in the second coordinate system (102) Next, the movable device (20) mimics information of movement of an end effector of the robot (30);

    A programming module for programming the robot (30) according to the second motion information.
15. Device (40) according to claim 14, characterized in that said movable device (20) comprises at least one signal receiver (201),

    The recording module is specifically configured to determine and record the first motion information according to a signal received from the at least one signal transmitter (202) received by the at least one signal receiver (201);

    The conversion module is further configured to determine a correspondence between the first coordinate system and the second coordinate system (102) according to a relative position relationship between the at least one signal transmitter (202) and the robot (30). relationship.
16. The device (40) according to claim 14 or 15, wherein the type of the first motion information and the second motion information includes at least one of the following information:

    location information;

    Attitude information

    Trajectory information

    Speed information

    Acceleration information.
17. The robot teaching programming device (40) is characterized in that it includes:

    At least one memory for storing computer-readable code;

    At least one processor, configured to call the computer-readable code and execute the method according to any one of claims 11 to 13.
18. A computer program product tangibly stored on a computer-readable medium and including computer-executable instructions that, when executed, cause at least one processor to perform any of claims 11 to 13 Item.
19. A computer-readable medium, wherein computer-readable instructions are stored on the computer-readable medium, and when the computer-readable instructions are executed by a processor, the processor causes the processor to execute claims 11 to 13 The method of any one.
20. The robot teaching programming system (100) is characterized in that it includes:

    A movable device (20) for imitating the end effector movement of the robot (30) in the working space of a robot (30);

    A robot teaching programming device (40) for:

    Recording first motion information, where the first motion information is information on the motion of the movable device (20) in a first coordinate system (101);

    Determine the second motion information according to the correspondence between the first coordinate system (101) and a second coordinate system (102), and the first motion information, wherein the second coordinate system (102) is The coordinate system of the robot (30) in the working space, and the second motion information is an image of the robot (30) imitating the robot (30) under the second coordinate system (102). Information on end effector movements;

    Programming the robot (30) based on the second motion information.
21. The system (100) of claim 20, wherein the movable device (20) includes at least one signal receiver (201), and the system (100) further includes at least one of the at least one signal transmission器 (202),

    The robot teaching programming device (40) is specifically configured to determine and record the first motion information according to a signal received from the at least one signal transmitter (202) received by the at least one signal receiver (201);

    The robot teaching programming device (40) is further configured to determine the first coordinate system (101) and the robot according to a relative position relationship between the at least one signal transmitter (202) and the robot (30). Correspondence of the second coordinate system (102).
22. The system (100) according to claim 21 or 22, wherein the types of the first motion information and the second motion information include at least one of the following information:

    location information;

    Attitude information

    Trajectory information

    Speed information

    Acceleration information.

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